Robot Cell Floor Coordinate System for Dynamic Reconfiguration
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Solution Overview
Problem
Current robot cells face challenges in efficiently reconfiguring and controlling multiple robots to assemble complex workpieces, such as aircraft, due to limitations in coordinating robot positions and working envelopes, which affects manufacturing precision and efficiency.
Innovation Solution
A robot cell with a cell floor defining a two-dimensional coordinate system, equipped with detectors to track robot locations and bearings, sensors to sense poses, and a controller to guide robots within their working envelopes using a three-dimensional coordinate system, allowing for dynamic reconfiguration and improved coordination among robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robots are employed to simultaneously assemble a workpiece, then productivity is improved, but device complexity increases
Solution Approach 1:
The system segments the control of multiple robots by defining individual working envelopes for each robot and coordinating their movements independently within these segmented spaces. The controller manages each robot's position and orientation separately according to its specific working envelope, allowing simultaneous operation without complex inter-robot coordination.
2Manufacturing precision
If robot positions are fixed to maintain precision, then manufacturing precision is improved, but adaptability deteriorates
Solution Approach 1:
The system implements dynamic positioning where robot bases can be relocated to different positions on the cell floor while maintaining precision through real-time coordinate transformations. The controller dynamically adjusts the working envelopes and coordinate systems when robots are moved, allowing the system to adapt to different workpiece configurations while preserving manufacturing precision through continuous coordinate system updates.
3Ease of operation
If a predetermined coordinate system is used, then ease of operation is improved, but adaptability to different workpieces deteriorates
Solution Approach 1:
The system changes the coordinate system parameters dynamically based on the workpiece being assembled. When a new workpiece is introduced, the controller updates the coordinate system definition to match the workpiece geometry and assembly requirements. This allows the use of a simple coordinate-based control approach while adapting to different workpiece types and configurations.
Data Source
AI summary
A robot cell, having a cell floor defining an array of nodes corresponding with a predetermined two-dimensional coordinate system and defining a volume for receiving a workpiece W therein, is described. The robot cell comprises: a set of robots, including a first robot, having respective bases, end effectors and working envelopes and defining respective three-dimensional coordinate systems, located according to the array of nodes; a set of detectors, including a first detector, configured to detect respective locations and/or bearings of the set of robots; a set of sensors, including a first sensor, configured to sense respective poses of the set of robots; and a controller, communicatively coupled to the set of robots and to the set of detectors, configured to control movement of the set of robots using the detected respective locations and/or bearings of the set of robots.