Robot Workpiece Gripping for Balanced Surface Pressure Alignment
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Solution Overview
Problem
Existing systems for processing workpieces with varying surface shapes struggle to maintain even pressure distribution during polishing or bonding, especially when the workpiece has low shape precision and the grasping power is limited, leading to partial contact and reduced precision in the process.
Innovation Solution
A production method and system that utilize a robot equipped with a force sensor and a hand with grasping pieces that balance moments about axes within the workpiece's surface, allowing the robot to adjust its orientation for balanced contact and even pressure distribution between the workpiece and the target surface, ensuring precise alignment and contact.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the robot grasps the workpiece with limited grasping power, then the workpiece can be held, but even pressure distribution cannot be maintained during polishing or bonding
Solution Approach 1:
The robot performs preliminary orientation adjustment by balancing moments about axes within the subject flat surface before the polishing or bonding operation. This preliminary action ensures that the workpiece is properly oriented and the pressing surface makes full contact with the target surface, enabling even pressure distribution even when grasping power is limited.
2Manufacturing precision
If the workpiece has low shape precision, then it is easier to manufacture, but partial contact occurs during polishing or bonding
Solution Approach 1:
The force sensor detects forces during grasping, and the controller uses this feedback information to calculate and balance moments about axes within the subject flat surface. This feedback mechanism allows the robot to compensate for workpiece shape variations and ensure full contact between the pressing surface and target surface, preventing partial contact during polishing or bonding.
3Device complexity
If the robot operates without moment balancing, then the operation is simpler, but alignment between subject flat surface and target flat surface is inaccurate
Solution Approach 1:
The robot performs preliminary orientation adjustment by balancing moments about axes within the subject flat surface before the polishing or bonding operation. This preliminary action ensures that the workpiece is properly oriented and the pressing surface makes full contact with the target surface, enabling even pressure distribution even when grasping power is limited.
4Productivity
If the pressing surface does not make full contact with the target surface, then the process is faster, but polishing or bonding precision is reduced
Solution Approach 1:
The robot performs preliminary orientation adjustment by balancing moments about axes within the subject flat surface before the polishing or bonding operation. This ensures full contact between the pressing surface and target surface, maintaining high precision while allowing the actual polishing or bonding process to proceed efficiently.
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
This approach enables even pressure distribution and high-precision processing, even with workpieces of low shape precision and limited grasping power, preventing partial contact and ensuring consistent polishing or bonding results.
Implementation Method 1
a robot equipped with a force sensor; and pressing a subject flat surface of the grasped workpiece against a target flat surface at an even pressure distribution
Data Source
AI summary
According to a production method, when a workpiece is grasped with a hand that includes two grasping pieces that grasp the workpiece by sandwiching the workpiece in a width direction between two surfaces orthogonal to a subject flat surface, and pressing surfaces that abut against a to-be-pressed surface of the workpiece opposite to the subject flat surface, the pressing surfaces are caused to abut against the to-be-pressed surface near a grasping position. The robot is operated on a basis of forces detected by a force sensor so that the robot assumes an orientation with which moments about axes that lie within the subject flat surface are balanced, and the workpiece is grasped with the two grasping pieces of the hand at a position where the moments are balanced. The robot is then operated to assume an orientation with which the subject flat surface aligns with the target flat surface.