3D Robot Simulation for Multi-Point Speed and Acceleration Analysis
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Solution Overview
Problem
Existing simulation devices for robot devices do not provide information on the operating state, such as speed or acceleration, at positions other than the tool center point, making it difficult to determine if the speed or acceleration is too fast or too slow at predetermined positions in the robot device or workpiece.
Innovation Solution
A simulation device that simulates the operation of a robot device and workpiece using a three-dimensional model, sets object points on the surface of the model, calculates speed and acceleration at these points, and displays this information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If simulation device calculates operating state only at tool center point, then calculation complexity is reduced, but information completeness deteriorates
Solution Approach 1:
The patent divides the robot device into multiple discrete points (object points) distributed across different locations including the tool center point and other critical positions. Each object point independently calculates operating states such as speed and acceleration, enabling comprehensive monitoring without requiring complex centralized calculation for the entire system.
Solution Approach 2:
The patent extends the monitoring dimension from a single point (tool center point only) to multiple spatial dimensions by setting object points at various locations throughout the robot device and workpiece. This multi-point approach provides three-dimensional spatial distribution of operating state information, revealing speed and acceleration variations across different regions.
2Loss of information
If simulation device monitors multiple positions, then information completeness is improved, but calculation complexity increases
Solution Approach 1:
The calculation system is segmented into independent calculation units, each responsible for a specific object point. Each unit calculates speed and acceleration based on position data from the simulation, allowing parallel processing and reducing overall computational complexity compared to a centralized approach.
Solution Approach 2:
The patent uses a standardized calculation template that is copied and applied to each object point. The same calculation methodology for determining speed and acceleration from position data is replicated across multiple points, simplifying implementation and reducing the complexity of developing unique calculations for each location.
3Measurement precision
If simulation device provides detailed operating state data, then operator control precision is improved, but information processing time increases
Solution Approach 1:
The patent extracts only the essential operating state parameters (speed and acceleration) from the simulation data at each object point, rather than calculating and processing all possible mechanical parameters. This selective extraction provides sufficient information for operator control decisions while minimizing processing time.
Solution Approach 2:
The patent calculates operating states at multiple object points including those that may not all be simultaneously critical. This partial monitoring approach ensures that when any point becomes critical, the data is already available, balancing comprehensive monitoring with efficient use of processing resources.
Data Source
AI summary
A simulation device includes a simulation executing unit for carrying out a simulation of an operation of a robot device by means of a three-dimensional model; a target point setting unit for setting target points for polygons representing a surface of the three-dimensional model; a position calculating unit for calculating positions for all target points at a predetermined time; and an operating state calculating unit for calculating at least one variable among a speed and an acceleration of the target points on the basis of the positions of the target points at each time.