Robot Hand Positioning for Long Member Assembly
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Solution Overview
Problem
The challenge lies in accurately holding and positioning long members with low rigidity, such as aircraft stringers, which often have complex shapes, to prevent positional deviations during assembly, as traditional fixing jigs can lead to inaccuracies and bending issues.
Innovation Solution
An assembly body manufacturing device featuring multiple gripping parts with adjustable positions, a high-accuracy gripping part, and a control unit that aligns the parts based on the original shape of the member to minimize deformation and ensure precise positioning without the need for a fixing jig.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fixing jig is used to hold the long member, then the long member can be prevented from bending, but various types of fixing jigs need to be prepared for different stringer shapes and positions
Solution Approach 1:
The robot hand parts are designed to universally hold different types of long members (stringers) with varying shapes and installation positions, replacing the need for multiple specialized fixing jigs. The control unit adjusts the robot hand positions based on stored shape information to accommodate different stringer configurations.
Solution Approach 2:
The system changes the positioning parameters of robot hands based on the specific shape and installation position of each stringer. The control unit modifies the coordinates and orientations of robot hands to match the original shape data stored in the storage unit, enabling adaptive holding without physical jig changes.
2Device complexity
If robots are used to hold the long member, then the fixing jig complexity is reduced, but positional deviation occurs due to inaccuracy of robot hand operation or bending between hand parts
Solution Approach 1:
The control unit uses stored original shape information as a reference to continuously monitor and adjust robot hand positions. By comparing the actual positions with the target positions derived from the original shape data, the system compensates for positioning errors and maintains manufacturing precision.
Solution Approach 2:
The original shape information of each stringer is pre-stored in the storage unit before the assembly process. This allows the control unit to calculate and prepare the optimal robot hand positions in advance, ensuring accurate positioning before the actual holding and assembly operations begin.
3Reliability
If multiple first gripping parts are used to hold the long member, then the long member can be securely held, but the positioning accuracy decreases compared to a single high-precision gripping part
Solution Approach 1:
The long member is held by multiple robot hands positioned at different locations along its length. Each robot hand independently grips the stringer, providing secure holding throughout. The control unit coordinates all robot hands to maintain the original shape, with the second robot hand providing high-precision positioning at critical locations.
Solution Approach 2:
Different robot hands perform different functions: the first plurality of robot hands provide general secure holding at various positions, while the second robot hand provides high-precision positioning at specific critical locations. This local differentiation of quality ensures both secure holding and high positioning accuracy where needed.
Data Source
AI summary
A long member assembling device has hand parts configured to grip a long member, arm parts and trunk parts configured to adjust a position of each of the hand parts, a hand part configured to grip the long member, the hand part numbering less than the hand parts, an arm part and a trunk part configured to move the hand part and adjust a position of the hand part gripping the long member, the arm part and the trunk part having higher positioning accuracy than the hand parts, and a control unit configured to, on the basis of an original shape of the long member stored in a memory, drive the arm parts and the trunk parts to adjust the positions of the hand parts and the hand part such that the shape of the long member gripped by the hand parts matches the original shape.