Robot Arm Inertia Sensor Isolation for Vibration Damping
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Solution Overview
Problem
In existing robot configurations with inertia sensors for vibration damping control, the sensors pick up undesired vibration components as noise, leading to decreased detection accuracy.
Innovation Solution
The robot system includes a duct connected to a base and a second arm, with a first member and a second member for wiring or piping, positioning the inertia sensor between a motor unit and an attachment section, and utilizing endless belts to transmit drive forces, while separating the sensor from potential vibration sources.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the inertia sensor is installed in the second arm to detect angular velocity or acceleration for vibration damping control, then the robot can perform vibration damping control, but the sensor picks up vibration of the intermediate body and other components as noise, decreasing detection accuracy
Solution Approach 1:
The patent introduces an intermediate structure (the arm base with attachment section) between the inertia sensor and the motor unit/intermediate body. The inertia sensor is mounted on the arm base rather than directly on the intermediate body, creating physical separation that reduces vibration transmission to the sensor while maintaining the ability to detect arm motion for vibration damping control
Solution Approach 2:
The second arm is divided into distinct components: the intermediate body, the arm base with attachment section, and the motor unit. The inertia sensor is specifically positioned on the arm base portion, separating it from the intermediate body that generates vibrations during operation. This segmentation allows the sensor to detect arm motion without picking up unwanted vibrations from the intermediate body
2Ease of manufacture
If the second member is positioned closer to the shaft side to connect wiring or piping to the end effector, then the wiring or piping can be efficiently connected, but the inertia sensor placement becomes more constrained
Solution Approach 1:
The patent resolves the spatial conflict by utilizing the longitudinal dimension of the second arm. The second member is positioned closer to the shaft side along the arm's length, while the inertia sensor is mounted on the arm base portion. This dimensional arrangement allows both the wiring connection and sensor placement to coexist without interference, maintaining ease of manufacture while managing device complexity
Data Source
AI summary
A robot including a base, a first arm, a second arm rotatably connected to the first arm, a shaft on which an end effector is mounted, an inertia sensor that is installed in the second arm, a motor unit installed in the second arm and configured to drive the shaft, and a duct connected to the base and to the second arm, wherein the second arm includes a first member having a first connection section to which the duct is connected and a second member that has a second connection section to which a wiring or a piping connected to the end effector is connected and that is positioned further to the shaft side than the first connection section, and an arm base having an attachment section to which the second member is attached and the inertia sensor is disposed between the motor unit and the attachment section.