Robot Arm Position Error Absorption for Aerial Vehicles
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Solution Overview
Problem
The increasing complexity and precision requirements in multi-copter applications necessitate a robot arm capable of performing various tasks with high quality, while stabilizing its position in aerial vehicles, which is challenging due to the unique flight characteristics of aerial vehicles.
Innovation Solution
A robot arm with a plurality of joints, an arm controlling system, and a displacement detector to correct position errors, allowing the arm to maintain stability and precision, equipped with interchangeable end effectors for diverse tasks, and integrated with an unmanned aerial vehicle having rotary wings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot arm is mounted on an aerial vehicle to perform various tasks, then the versatility and task capability are improved, but the position stability of the robot arm deteriorates due to the unique flight characteristics of aerial vehicles
Solution Approach 1:
The patent implements a feedback control system where a displacement detector continuously monitors the position of the robot arm, and the arm controlling means automatically adjusts the joint positions based on detected position errors. This closed-loop feedback mechanism compensates for position deviations caused by aerial vehicle movement, maintaining stable end effector positioning while enabling versatile task performance.
Solution Approach 2:
The patent employs dynamic compensation by making the robot arm's joint positions adjustable in real-time. The arm controlling means dynamically modifies the arm configuration based on detected position errors, allowing the system to adapt to changing flight conditions and maintain operational stability despite the moving platform.
2Manufacturing precision
If the robot arm uses multiple joints to perform complex tasks, then the task complexity and precision are improved, but the device complexity increases
Solution Approach 1:
The patent achieves multiple functions through a unified feedback control system that manages multiple joints. The same arm controlling means and displacement detector used for position stabilization also enable precise control for various tasks, eliminating the need for separate control systems and reducing overall device complexity while maintaining high precision and versatility.
Data Source
AI summary
A robot arm that can be suitably used in aerial vehicles and an unmanned aerial vehicle equipped with the robot arm. The robot arm includes: an arm unit includes a plurality of joints; arm controlling means for controlling driving of the joints; and a displacement detector configured to detect a change of a position and inclination of the arm unit. The arm unit has a base end connected to the aerial vehicle. At least a leading end of the arm unit is exposed to an outside of the aerial vehicle. When the displacement detector has detected a position error that is an unexpected change of the position or inclination of the arm unit, the arm unit controlling means is configured to cause the joints to absorb the position error so as to prevent the position error from being transmitted to a side of the leading end of the arm unit.