Robot Operation Simulation for Attachment Load Constraints
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Solution Overview
Problem
Existing robot operation technologies do not adequately consider the attributes of attachments such as load capacity and rigidity when determining robot operations, leading to potential damage from excessive loads and misfitting operations.
Innovation Solution
A robot operation simulation device that calculates and compares the velocity, acceleration, and acting force generated in attachments relative to the robot, adjusting the operation program to ensure these values stay within specified limiting conditions based on attachment attributes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robot operation is not restricted according to attachment attributes, then robot productivity is maintained, but attachment damage occurs due to excessive load
Solution Approach 1:
The system performs preliminary simulation calculation before actual robot operation to predict velocities, accelerations, and acting forces on the attachment. Based on these predictions, the operation program is modified in advance to ensure forces remain within attachment limits, preventing damage before it occurs while maintaining productivity.
Solution Approach 2:
The system calculates and modifies operation parameters (velocity, acceleration) based on attachment attributes (load capacity, rigidity). By changing these parameters within safe ranges determined through simulation, the system ensures attachment safety while optimizing robot productivity.
2Reliability
If user sets custom constraints for each attachment, then attachment-specific protection is achieved, but system complexity increases
Solution Approach 1:
The system automatically acquires attachment attributes (load capacity, rigidity value, attachment position) and uses these to determine appropriate operation constraints without requiring manual user input. The simulation calculation and operation program modification are performed automatically, reducing complexity while maintaining attachment-specific protection.
Solution Approach 2:
The system provides a universal solution that handles various attachment types (end effectors, intermediate attachments) and various attachment positions through a single simulation and constraint determination process. This multi-functional approach eliminates the need for separate constraint setting procedures for different attachment scenarios.
3Measurement precision
If attachment position is not considered, then simulation calculation is simplified, but accuracy of force calculation deteriorates
Solution Approach 1:
The system determines the attachment position (tip attachment or intermediate attachment between joints) and applies position-specific calculation methods. For intermediate attachments, the system calculates acting forces based on the specific joint positions and attachment location, providing locally accurate force predictions that account for the precise attachment position without excessive complexity.
Data Source
AI summary
This device for simulating the operation of a robot comprises: an acquisition unit 341 that acquires the position, relative to a robot 100 having a shaft that can move in a rotational or linear manner as a joint, of a mounting article of the robot 100, the mounting article being mounted on a link that is connected to the joint, and also acquires a constraint for at least one of the speed, acceleration, and acting force generated in the mounting article when the robot 100 operates; a calculation unit 342 that calculates at least one of the speed, acceleration, and acting force anticipated to be generated in the mounting article in accordance with the position of the mounting article relative to the robot 100 when the robot 100 executes an operation; and a comparison unit 342 that compares the constraint and at least one of the speed, acceleration, and acting force calculated by the calculation unit 342.