Robot Control Point Adjustment for Precision Fitting
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Solution Overview
Problem
Existing robot systems face challenges in smoothly fitting workpieces into fitted members due to applied forces and moments in directions other than the fitting direction, which can lead to incomplete or inaccurate fitting operations.
Innovation Solution
A robot system with a control portion that adjusts the control point of the robot arm in a direction opposite to the fitting direction based on the workpiece's movement, allowing the workpiece to follow the shape of the fitted member and minimizing applied forces and moments during the fitting operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the robot arm uses a fixed control point for fitting operation, then the control system is simple, but the workpiece cannot smoothly follow the shape of the fitted member causing incomplete fitting
Solution Approach 1:
The control point is changed from a fixed position to a dynamic position that moves along the fitted member's shape. The control point setting portion dynamically adjusts the control point location based on the workpiece position and fitted member geometry, enabling the workpiece to smoothly follow the fitted member's contour during insertion
Solution Approach 2:
The system uses feedback from the workpiece movement in the fitting direction to adjust the control point position. The control point setting portion receives information about workpiece displacement and automatically repositions the control point to maintain optimal fitting conditions throughout the insertion process
2Reliability
If force and moment are applied to the workpiece during fitting, then the fitting operation can be performed, but excessive force causes interference and prevents smooth insertion
Solution Approach 1:
The system changes the control parameters (control point position) dynamically during the fitting operation. By adjusting the control point along the fitted member's shape and in the direction opposite to fitting, the system optimizes the force distribution to minimize harmful forces and moments while maintaining reliable fitting operation
3Manufacturing precision
If the control point remains stationary, then the robot control is simple, but the workpiece cannot align precisely with the fitted member shape
Solution Approach 1:
The control point is transformed from a static reference to a dynamic reference that continuously adjusts its position. The control point setting portion calculates and updates the control point location based on the workpiece insertion depth and the fitted member's geometric shape, achieving precise alignment without complex mechanical adjustment mechanisms
Data Source
AI summary
After a forward end of a workpiece is inserted into a through-hole and fitting is started, a follow operation of moving the workpiece to follow the shape of the through-hole is performed during the movement of the workpiece in a fitting direction. At this time, the workpiece is fitted into the through-hole while a control point of a robot is changed in a direction opposite to the fitting direction according to the amount of movement of the workpiece in the fitting direction.