Robot Simulation for Following Workpieces on Arc Conveyor Tracks
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Solution Overview
Problem
Current simulation technologies cannot effectively simulate a robot's operation of following a workpiece conveyed along an arc-shaped track, which is essential for optimizing robot performance in conveyor systems.
Innovation Solution
A simulation device and method that create a virtual environment with a robot model, conveyer model, and detection device model, allowing the robot hand to follow and grip a workpiece moving along an arc-shaped track, with features like virtual track determination and detection device positioning, enabling realistic simulation of robot operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot hand follows a workpiece conveyed along an arc-shaped track, then the robot can perform conveying operations, but the robot hand must move within a limited virtual movable range
Solution Approach 1:
The patent transforms the robot hand's movement from linear Cartesian coordinates to polar coordinates (radius and angle), enabling the hand to follow arc-shaped tracks by varying the angle while maintaining a constant radius, thus expanding operational versatility within constrained physical space
2Measurement precision
If the detection device is positioned to detect workpieces on the arc-shaped track, then workpiece detection accuracy is improved, but the device arrangement complexity increases
Solution Approach 1:
The patent introduces a coordinate transformation mechanism that acts as an intermediary, converting detection data from the arc-shaped track coordinate system to the robot's operational coordinate system, thereby simplifying the overall system arrangement while maintaining detection accuracy
3Reliability
If the simulation includes multiple robots and conveyers, then the simulation realism is improved, but the computational complexity increases
Solution Approach 1:
The patent divides the simulation environment into independent modular units (individual robots, conveyers, and workpieces), each with its own coordinate system and movement rules, allowing complex multi-robot simulations to be constructed by combining simple standardized modules
Data Source
AI summary
A simulation device for simulating the operations of a robot that follows a workpiece when the workpiece is conveyed by a conveyer that conveys workpieces along an arc-shaped track. The simulation device includes a robot model arranging section that arranges a robot model in virtual space; a conveyer model arranging section that arranges a conveyer model in the virtual space, the conveyer model being capable of conveying a workpiece model along an arc-shaped virtual track; a workpiece model arranging section that arranges a workpiece model on the conveyer model in the virtual space; a detection device model arranging section that arranges a detection device model in the virtual space capable of detecting the workpiece model; an operation range setting section that sets a following operation range of the robot model in the virtual space; and a simulation execution section that executes simulations.