3D Robot Simulation for Multi-Workpiece Gripping Positions
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Solution Overview
Problem
Existing robot simulation devices lack the capability to simulate the operation of collectively picking up and handling multiple workpieces efficiently, particularly in scenarios involving conveyance devices and discharge devices.
Innovation Solution
A robot simulation device that includes a three-dimensional model arrangement unit, workpiece holding quantity designation, reference workpiece designation, and holding position setting units to simulate the collective handling of multiple workpieces by a robot hand, utilizing virtual space simulations and numerical calculations to determine optimal holding positions and movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robot simulation device simulates collective handling of multiple workpieces, then the simulation accuracy and usability are improved, but the device complexity increases
Solution Approach 1:
The simulation device segments the complex task of multi-workpiece handling into distinct functional modules: a three-dimensional model arrangement unit for setting up the virtual environment, a workpiece holding quantity designation unit for specifying how many workpieces to handle, a reference workpiece designation unit for identifying benchmark workpieces, and a holding position setting unit for determining precise grip locations. This modular segmentation allows each component to be developed and optimized independently while maintaining high simulation accuracy through coordinated interaction between modules.
2Productivity
If the simulation device calculates optimal holding positions for multiple workpieces, then the productivity of robot operation verification is improved, but the computational time and complexity increase
Solution Approach 1:
The holding position setting unit performs preliminary calculations of optimal holding positions before the actual robot execution of multi-workpiece handling tasks. By pre-computing the ideal grip locations, distances, and orientations based on the designated reference workpiece and specified holding quantity, the system eliminates the need for time-consuming trial-and-error adjustments during real robot operation. This preliminary action significantly improves verification productivity while reducing computational time during actual execution.
Data Source
AI summary
A robot simulation device including: a three-dimensional model arrangement part for arranging, in a virtual space, a robot three-dimensional model, a robot-installed hand three-dimensional model, a supply device three-dimensional model, an ejection device three-dimensional model, workpiece three-dimensional models, and a detection device three-dimensional model for detecting a workpiece on the supply device; a gripping workpiece quantity designation part for receiving input designating a quantity of workpiece three-dimensional models to be gripped at once by the hand three-dimensional model; a reference workpiece designation part for receiving input designating a workpiece three-dimensional model; and a gripping position setting part for setting workpiece three-dimensional model gripping positions for the hand three-dimensional model relative to the workpiece three-dimensional models for when gripping the workpiece three-dimensional models with the hand three-dimensional model.