Robot Joint Calibration Using Kinematic Contact Coupling
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Solution Overview
Problem
Current methods for determining the calibration position of robot joints are inefficient and require additional equipment, leading to increased costs and complexity in calibration processes.
Innovation Solution
A kinematic coupling system using a force providing protrusion and a force receiving element with cylindrical shapes, forming multiple contact points between the joint elements, facilitated by a robot controller and motor, allows for precise calibration by measuring the position of the moveable joint element when the force providing protrusion contacts the force receiving element.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional calibration methods using additional equipment are used, then calibration accuracy can be achieved, but device complexity and costs increase
Solution Approach 1:
The patent extracts the calibration function from separate external equipment and integrates it into the robot joint structure itself. The force providing protrusion and force receiving element are built-in components that enable calibration without requiring external calibration devices, thereby reducing device complexity while maintaining calibration accuracy through the kinematic coupling mechanism
Solution Approach 2:
The robot joint structure is designed to serve multiple functions: normal operation and calibration. The force providing protrusion and force receiving element are integrated into the joint elements, allowing the same structure to perform both operational and calibration functions, eliminating the need for separate dedicated calibration equipment
2Measurement precision
If traditional calibration methods with additional equipment are used, then calibration can be performed, but costs increase
Solution Approach 1:
The patent merges the calibration function with the robot joint structure by integrating the force providing protrusion and force receiving element directly into the joint elements. This consolidation eliminates the need for separate calibration equipment, reducing manufacturing costs while maintaining calibration accuracy through the built-in kinematic coupling mechanism
3Ease of manufacture
If simple mechanical arrangements are used, then costs are reduced, but calibration precision may be compromised
Solution Approach 1:
The patent introduces a force providing protrusion and force receiving element as intermediary components that mediate between the joint elements during calibration. These simple mechanical intermediaries create a well-defined kinematic coupling with specific contact points, enabling precise calibration through basic mechanical contact rather than complex measurement systems
Data Source
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Figure 3
Figure 4~5B
AI summary
An arrangement for determining the calibration position of a robot joint comprises the joint comprising a moveable joint element (54) and a stationary joint element (56), where one joint elements comprises a holding structure (60, 62) and the other a force providing protrusion (64), a robot controller, a motor (22) connected between the robot controller and the moveable joint element and a force receiving element (58) adapted to form a kinematic coupling with the holding structure (60, 62) and the force providing protrusion (64), where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element (58) being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.