Robot Arm Vibration Measurement Using Inertial Sensors
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Solution Overview
Problem
Current methods for measuring vibration in robot moving parts lack quantitative accuracy, making it difficult to determine whether the vibration is acceptable or not, and cannot effectively compare the vibration magnitude between different parts.
Innovation Solution
A vibration measurement method using a first inertial sensor to quantify the vibration of moving parts, specifically by driving the parts to resonate and measuring the angular velocity with a 6-axis inertial sensor or angular velocity sensor, allowing for the selection of velocities that minimize vibration and enabling vibration control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual inspection or hand placement method is used to measure vibration, then the measurement method is simple, but the measurement precision is insufficient and cannot quantitatively grasp vibration magnitude
Solution Approach 1:
The patent replaces manual mechanical inspection methods with an inertial sensor-based measurement system. The inertial sensor detects angular velocity to quantitatively measure vibration magnitude, substituting human sensory evaluation with precise electronic sensing and signal processing.
Solution Approach 2:
The patent utilizes resonance by driving the moving part at its natural frequency to amplify vibration. This allows the inertial sensor to detect vibration signals more effectively, as the resonant state produces maximum vibration amplitude for a given excitation force.
2Reliability
If inertial sensor is used to measure vibration, then the measurement precision is improved, but the ability to determine acceptable vibration levels and compare between parts is insufficient without resonance utilization
Solution Approach 1:
The patent drives the moving part to resonate at its natural frequency, which amplifies the vibration signal to a level where the inertial sensor can accurately detect and quantify it. This resonance-based approach ensures reliable and precise measurement of vibration characteristics.
Solution Approach 2:
The patent changes the operating parameters by driving the moving part at different velocities to identify the resonant frequency. By sweeping through a range of frequencies and detecting the peak response, the system determines the natural frequency and uses it for accurate vibration assessment.
3Adaptability or versatility
If multiple moving parts need to be compared, then comprehensive vibration assessment is achieved, but the difficulty of detecting and measuring increases due to lack of quantitative standards
Solution Approach 1:
The patent replaces subjective human assessment with objective inertial sensor measurements. The sensor provides standardized quantitative data that can be directly compared across multiple moving parts, eliminating variability in manual inspection methods.
Solution Approach 2:
The patent uses the inertial sensor output to provide feedback on vibration magnitude. This feedback mechanism enables systematic comparison between different moving parts by providing measurable, comparable data that can be analyzed and used for quality assessment.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This method allows for precise quantitative measurement of vibration in moving parts, improving the determination of acceptable vibration levels and enabling comparison between multiple parts, thereby enhancing the accuracy and reliability of vibration assessment and control.
Implementation Method 1
vibration of a moving part is measured using a first inertial sensor
Implementation Method 2
measurement is carried out by the first inertial sensor in a state where at least two arms of the plurality of arms are made to rotate and resonate by the drive unit
Data Source
AI summary
A vibration measurement method for a moving part is a vibration measurement method in which vibration of a moving part is measured using a first inertial sensor. The method includes: performing measurement by the first inertial sensor in a state where the moving part is resonating, driven by a drive unit which drives the moving part; and finding a magnitude of vibration of the moving part, based on an output from the first inertial sensor. An example of the moving part may be a plurality of arms or the like provided in such a way as to be able to rotate about a rotation axis.