Robot Mastering Data Correction for Creep-Induced Bending
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
As robots become lighter, creep deformation leads to accuracy issues due to bending in mechanical units, existing robot control devices struggle to effectively correct for this deformation without requiring repeated mastering processes.
Innovation Solution
A robot control device that includes a creep-information storage unit for storing bending data over cumulative time, a mastering-data storage unit, and a correction unit that updates mastering data based on measured bending, maintaining positional accuracy without needing re-mastering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If robots are made lighter to reduce weight, then weight is reduced, but bending accuracy deteriorates due to creep deformation in mechanical units
Solution Approach 1:
The system changes the parameter of mastering data over time by incorporating creep deformation amounts that accumulate with operating time. The control device updates mastering data based on measured creep deformation, allowing the robot to maintain positioning accuracy despite weight reduction and associated creep effects in mechanical units
Solution Approach 2:
The system implements feedback by measuring actual creep deformation in the robot's mechanical units and using this information to correct mastering data. The control device continuously monitors deformation and adjusts positioning parameters accordingly, creating a closed-loop system that compensates for creep effects without requiring re-mastering
2Device complexity
If conventional robot control devices are used without creep correction, then device complexity is low, but positioning accuracy deteriorates over time due to uncorrected creep deformation
Solution Approach 1:
The system performs preliminary correction by measuring creep deformation and updating mastering data in advance, before the deformation significantly impacts positioning accuracy. This proactive approach prevents accuracy deterioration rather than correcting it after the fact
Solution Approach 2:
The system replaces complex mechanical re-mastering procedures with a computational solution. Instead of physically re-calibrating the robot mechanically, the control device uses software-based correction of mastering data based on measured creep deformation, simplifying the overall system while maintaining accuracy
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
The solution effectively corrects for creep deformation-induced bending, maintaining the positional accuracy of the robot's tool end without requiring re-mastering, even under varying environmental conditions, ensuring precise positioning.
Implementation Method 1
an amount of bending in correspondence with a cumulative time, which has occurred in the robot due to creep deformation
Data Source
AI summary
A robot control device includes: a creep-information storage unit that stores an amount of bending in correspondence with a cumulative time, the bending occurring in a robot due to creep deformation; a mastering-data storage unit that stores mastering data of the robot; a timer that measures the cumulative time; and a correction unit that corrects the mastering data stored in the mastering-data storage unit based on the amount of bending stored in the creep-information storage unit in correspondence with the cumulative time measured by the timer.