Articulated Robot Arm Vibration Sensing With External Pipe Routing
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Solution Overview
Problem
Existing horizontal articulated robots face challenges in accurately detecting vibrations in the vertical directions at the attachment point of the second arm, limiting effective damping control.
Innovation Solution
Incorporating an inertial sensor unit in the second arm with angular velocity sensors and a pipe routing system that couples the base and second arm, allowing for accurate detection and feedback of vibrations, thereby enhancing damping control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the sensor is provided in the first arm, then the robot structure is simpler, but accurate detection of vibration in the vertical directions at the attachment part of the second arm becomes difficult
Solution Approach 1:
The patent introduces a pipe as an intermediary component that extends from the first arm to the second arm, serving as a conduit for routing the wire to the inertial sensor. This mediator allows the sensor to be placed in the second arm while providing a structured path for electrical connection, resolving the contradiction between accurate vibration detection and system complexity
Solution Approach 2:
The patent segments the wire routing path by directing it through the pipe structure, separating the electrical connection pathway from the mechanical arm structure. This segmentation allows independent optimization of both the sensing system and the mechanical structure
2Ease of operation
If the wire is routed through the first arm to the sensor, then electrical connection is simpler, but the joint size increases and mechanical strength is compromised
Solution Approach 1:
The pipe acts as an intermediary structure that provides a dedicated pathway for the wire, separating the electrical routing function from the mechanical joint structure. This allows the wire to be routed easily through the pipe without increasing joint size or compromising mechanical strength
Solution Approach 2:
The patent moves the wire routing to a different spatial dimension by utilizing the pipe as a conduit, rather than routing the wire directly through the joint structure. This dimensional change separates the electrical and mechanical pathways
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 configuration enables precise detection and reduction of vibrations in both vertical and pivot directions, improving the robot's stability and operational efficiency.
Implementation Method 1
an inertial sensor provided in the second arm and detecting one or both of an angular velocity about an angular velocity detection axis orthogonal to an axial direction of the second axis and an acceleration in the second axis direction
Data Source
AI summary
A robot has a base, a first arm provided at the base and pivoting about a first axis relative to the base, a second arm provided at the first arm and pivoting about a second axis parallel to the first axis relative to the first arm, an inertial sensor provided in the second arm and detecting one or both of an angular velocity about an angular velocity detection axis orthogonal to an axial direction of the second axis and an acceleration in the second axis direction, a pipe located outside of the first arm and coupling the base and the second arm, and a wire placed through the pipe and electrically coupled to the inertial sensor.