Robot Arm Timing Control for Vibrating Workpiece Accuracy
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Solution Overview
Problem
Existing robot systems face challenges in accurately performing work on vibrating workpieces due to the displacement caused by vibrations, leading to decreased work quality and accuracy.
Innovation Solution
A robot system equipped with vibration detection circuitry, estimation circuitry to predict arrival timing at a return position, and control circuitry to adjust the arm's movement based on this timing, ensuring precise alignment and operation on the target portion of the workpiece.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot performs work on a vibrating workpiece without vibration compensation, then the work can be performed continuously, but the accuracy and quality of the work deteriorates due to displacement caused by vibrations
Solution Approach 1:
The system performs preliminary detection of workpiece vibration before the robot executes the work. The vibration detection circuitry captures vibration signals, and the control circuitry calculates vibration characteristics (amplitude, frequency, phase) in advance, allowing the robot to compensate for upcoming vibrations rather than reacting after displacement occurs
Solution Approach 2:
The system establishes a closed-loop feedback mechanism where vibration detection circuitry continuously monitors workpiece vibration, the control circuitry processes these signals to determine vibration characteristics, and the robot adjusts its positioning in real-time based on this feedback to maintain work accuracy despite vibrations
2Manufacturing precision
If the robot waits for the workpiece to return to a stable position before performing work, then the work accuracy improves, but the productivity decreases due to waiting time
Solution Approach 1:
The system transitions from a static waiting approach to a dynamic compensation approach. Instead of pausing the robot to wait for vibration cessation, the control circuitry continuously calculates real-time vibration characteristics and dynamically adjusts the robot's positioning to counteract vibrations, enabling continuous operation at full speed while maintaining accuracy
Solution Approach 2:
The system changes the control parameters by incorporating vibration compensation adjustments to the robot's positioning commands. The control circuitry modifies the target position parameters based on detected vibration amplitude, frequency, and phase, allowing the robot to maintain precise work engagement despite the workpiece being in a vibrating state
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
The system effectively reduces the displacement of the target portion until the tool arrives, enhancing the accuracy of the work performed on vibrating workpieces.
Implementation Method 1
vibration detection circuitry configured to detect vibration of the workpiece in a vibration direction
Data Source
AI summary
A robot system includes a robot having a tool configured to perform work on a target portion of a workpiece and an arm to which the tool is connected and which is configured to move the tool, vibration detection circuitry configured to detect vibration of the workpiece in a vibration direction, estimation circuitry configured to estimate an arrival timing at which the workpiece arrives at a return position in the vibration direction based on the vibration detected by the vibration detection circuitry, and control circuitry configured to control the arm based on the arrival timing such that the tool performs the work on the target portion.