Robot Center-of-Gravity Display via 3D Model Superposition
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Solution Overview
Problem
Existing methods for calculating the center-of-gravity position of articulated robots without force sensors are inadequate for precise determination, especially when considering the posture and installation angles of the robot.
Innovation Solution
A robot center-of-gravity display device that includes a specification setting unit, posture setting unit, robot-image generating unit, center-of-gravity-position calculation unit, image combining unit, and display unit, which generates a three-dimensional model image with a superimposed center-of-gravity indication, allowing users to intuitively determine the center-of-gravity position based on input specifications and posture information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a force sensor is used to measure the center-of-gravity position, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent replaces the mechanical force sensor measurement system with a computational model-based system. The center-of-gravity position is calculated using mathematical models that incorporate robot link parameters, joint angles, and load information, eliminating the need for physical force sensors while achieving accurate measurement.
Solution Approach 2:
The patent creates a virtual model of the robot system that replicates the physical robot's characteristics. By constructing a computational representation with the same kinematic and dynamic properties, the system can calculate center-of-gravity position through simulation and mathematical computation rather than direct physical measurement.
2Adaptability or versatility
If the robot is installed at an incline, then adaptability to different installation environments is improved, but determination of the center-of-gravity position becomes more difficult
Solution Approach 1:
The patent modifies the calculation parameters to account for inclined installation conditions. By introducing inclination angle parameters and transforming the coordinate system to match the actual installation orientation, the computational model accurately determines center-of-gravity position regardless of the robot's installation angle.
Solution Approach 2:
The patent extends the calculation framework from a simple horizontal reference frame to a three-dimensional coordinate system that incorporates inclination angles. This dimensional expansion allows the system to handle arbitrary installation orientations by transforming physical space coordinates into the calculation model's reference frame.
Data Source
AI summary
Provided is a robot center-of-gravity display device including: a specification setting unit that sets specifications including the weights, center-of-gravity positions, and dimensions of components of respective shafts; a posture setting unit that sets position information of the respective shafts; a robot-image generating unit that generates a three-dimensional model image of the robot in a state where the respective shafts are located at the positions indicated by the position information, based on the set position information of the respective shafts and the specifications of the components; a center-of-gravity-position calculation unit that calculates the center-of-gravity position of the overall robot, based on the set position information of the respective shafts and the specifications of the components; an image combining unit that superimposes an indication showing the center of gravity of the overall robot on the three-dimensional model image at the calculated center-of-gravity position; and a display unit that displays the generated image.