Coordinated Robot Transport Error Absorption
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Solution Overview
Problem
Existing coordinated transport robot systems face challenges in efficiently handling long and heavy objects in high-radiation areas, such as nuclear power plant environments, due to limitations in absorbing position and posture errors, high load and power consumption, and vulnerability to posture errors and heavy object transport.
Innovation Solution
A coordinated transport robot system comprising first and second robots with mobile units, position error absorption mechanisms using passive and active elements, an impedance model to estimate external forces, and a compliance model to calculate position corrections, reducing load and improving responsiveness by combining passive elements with active actuators for precise movement control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an articulated robot arm with multiple degrees of freedom is used to absorb position and posture errors, then the tolerance to position and posture errors is improved, but the weight and power consumption increase and responsiveness decreases
Solution Approach 1:
The error absorption function is segmented between passive elements (mechanical compliance) and active elements (controlled actuators). Passive elements handle rigid position errors while active elements handle posture errors, dividing the workload to reduce overall system weight while maintaining adaptability.
Solution Approach 2:
The system dynamically switches between passive and active error absorption modes based on the type of error detected. Passive compliance is engaged for position adjustments while active control is used for posture correction, optimizing responsiveness and reducing power consumption.
2Device complexity
If a mechanism formed only with passive elements is used, then the system is simple and light in weight, but the tolerance to posture errors is not very high
Solution Approach 1:
The system merges passive compliance mechanisms with active control elements in a hybrid configuration. Passive elements provide simplicity and light weight while active elements add posture error tolerance, achieving both simplicity and adaptability through combination.
3Productivity
If force sensors are used to measure internal forces in coordinated transport, then the transport capability is improved, but the sensors break down when subjected to large moments such as impact
Solution Approach 1:
Passive compliance elements serve as intermediaries between the robots and the transport object, absorbing impact forces before they reach the force sensors. This protects the sensors from large moments while maintaining transport capability.
Solution Approach 2:
The passive compliance mechanisms provide beforehand cushioning by absorbing potential impact forces before they can damage the force sensors, ensuring sensor durability during heavy object transport operations.
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
Enables efficient and accurate transport of long and heavy objects by absorbing position errors and reducing system load, while maintaining responsiveness and tolerance to external forces, suitable for high-radiation environments.
Implementation Method 1
a passive element unit configured to rotationally move the top panel in a horizontal direction
Implementation Method 2
an active element unit configured to translationally move the top panel in the horizontal direction
Implementation Method 3
an impedance model configured to estimate an external force from the amount of displacement detected by the passive element unit
Implementation Method 4
a compliance model configured to calculate respective position correction amounts of the first and second robots to make an external force zero
Data Source
AI summary
A coordinated transport robot system according to an embodiment includes: first and second robots each including a mobile unit and a movement control unit; first and second position error absorption mechanisms provided on the first and second robots; an impedance model estimating an external force from the amount of displacement detected by the passive element unit; an external force estimating unit estimating respective external forces acting on the first and second robots based on external forces estimated with a dynamics model and estimated by the impedance model; a compliance model calculating respective position correction amounts of the first and second robots to make an external force zero; and a movement command calculating unit calculating movement commands to the first and second robots based on the position correction amounts. Each of the movement control units control the respective mobile units based on the respective movement commands.