Robot Arm Pre-Pressing Control Against Reaction-Force Deformation
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Solution Overview
Problem
Robot arm processing systems face deformation issues due to insufficient hardness, leading to reduced precision when applying force to workpieces, as they are susceptible to reaction forces during processing.
Innovation Solution
A robot arm processing system that includes a robot arm, a processing module, and a control module, where a mechanical holding force is applied through a pre-pressing unit with a sensing unit to detect reaction forces and output anti-vibration signals, counteracting the deformation by adjusting the holding force direction and magnitude to match the reaction force, thereby maintaining precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot arm is used to apply force and directly process a workpiece, then the flexibility and large area of movement are improved, but the robot arm may be deformed by the reaction force and the processing precision will be affected
Solution Approach 1:
A pre-pressing unit is introduced as an intermediary component between the robot arm and the workpiece. This unit includes a pre-pressing rod that applies pre-pressing force to the workpiece, while the robot arm only provides mechanical holding force. This intermediary structure allows the robot arm to maintain flexibility and movement range while preventing direct deformation from reaction forces, thereby preserving processing precision.
Solution Approach 2:
The control module generates anti-vibration signals that produce counteracting forces to balance the reaction forces generated during workpiece processing. By detecting reaction forces or displacement through sensing units and generating opposing forces through the pre-pressing unit, the system counteracts deformation effects while maintaining the robot arm's flexibility and movement capabilities.
2Adaptability or versatility
If the robot arm directly processes the workpiece, then the degree of freedom and movement area are utilized, but the hardness is insufficient and deformation occurs under reaction force
Solution Approach 1:
The pre-pressing unit serves as a mediator that provides the necessary structural support and pre-pressing force, allowing the robot arm to maintain its high degree of freedom without directly bearing the full reaction forces. The pre-pressing rod with its greater hardness handles the force application, while the robot arm focuses on positioning and holding.
Solution Approach 2:
The system divides the force application function into separate components: the robot arm provides mechanical holding force while the pre-pressing unit provides pre-pressing force. This segmentation allows each component to be optimized for its specific function, with the pre-pressing unit having sufficient hardness to resist deformation while the robot arm maintains its flexibility and degree of freedom.
3Manufacturing precision
If a pre-pressing unit is added to apply mechanical holding force, then the processing precision is improved, but the device complexity increases
Solution Approach 1:
The pre-pressing unit is designed to perform multiple functions: it applies pre-pressing force to the workpiece, detects reaction forces through sensing units, and generates anti-vibration signals through the control module. By consolidating these functions into a single integrated unit, the system improves processing precision while minimizing the increase in overall device complexity.
Solution Approach 2:
The sensing unit automatically detects reaction forces or displacement during processing, and the control module automatically generates anti-vibration signals in response. This self-service mechanism reduces the need for external intervention and complex control systems, improving precision while keeping the added complexity manageable.
Data Source
AI summary
A robot arm processing system includes a robot arm, a processing module, and a control module. The robot arm is for providing a mechanical holding force. The processing module is disposed on the robot arm to process a workpiece. The control module is connected to the robot arm or the processing module. The control module outputs an anti-vibration signal according to the reaction force of the workpiece or the displacement of the robot arm to counteract the reaction force of the workpiece or the displacement of the robot arm.