Robot Rigidity Visualization for End Effector Working Conditions
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Solution Overview
Problem
Existing methods for simulating robot systems fail to effectively simulate the rigidity at the working point, requiring repeated adjustments of the robot's angle and position, thereby increasing the time required for constructing a robot system.
Innovation Solution
A display method that calculates and visualizes the rigidity at the working point of a robot's end effector by receiving information about the robot, end effector, and control point, and displays the result as a compliance ellipse or arrows, allowing for accurate determination of optimal working conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If the track of the working point is simulated using existing methods, then the position and posture information can be displayed, but the rigidity at the working point cannot be simulated
Solution Approach 1:
The patent segments the simulation information into distinct components: position, posture, and rigidity. By calculating and displaying rigidity as a separate parameter (Kxx, Kyy, Kzz) alongside position and posture, the system provides comprehensive robot arm characteristics without requiring a completely new simulation framework, thus resolving the contradiction between information completeness and system complexity.
2Measurement precision
If the designer repeatedly adjusts the angle and position of the working point to extract appropriate rigidity conditions, then the optimal working conditions can be found, but a lot of time is required
Solution Approach 1:
The patent performs preliminary calculation of rigidity values (Kxx, Kyy, Kzz) before the actual robot system construction. By pre-calculating and displaying the rigidity characteristics at different positions and angles, the system allows designers to identify optimal working conditions in advance, eliminating the need for repeated time-consuming adjustments during the construction phase.
Solution Approach 2:
The patent implements a feedback mechanism where the calculated rigidity values are immediately displayed to the operator alongside position and posture information. This real-time feedback allows the designer to assess whether the current robot arm configuration provides appropriate rigidity for the intended work, and make immediate adjustments without iterative trial-and-error, significantly reducing construction time.
Data Source
AI summary
A display method according to an aspect of the present disclosure is a display method for displaying, on a display section, a simulation of a robot that executes work on an object with an end effector provided in an arm. The display method includes receiving information concerning a type of the robot, receiving information concerning the end effector, receiving information concerning a position or a posture of a control point for controlling arms, calculating rigidity at a working point of the end effector based on the received information concerning the type of the robot, the received information concerning the end effector, and the received information concerning the position or the posture of the control point, and displaying a result of the calculation of the rigidity on the display section as a figure.