Robot End Effector Vibration Separation for Stable High-Speed Motion
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Solution Overview
Problem
High-speed robot operations often result in vibrations at the distal end, which existing methods struggle to accurately measure and reduce, especially when the end effector's vibrations are intertwined with those of the robot, leading to inefficiencies in vibration reduction.
Innovation Solution
A vibration analyzer system that includes sensors to measure vibrations, a storage unit for vibration calculation models of both the robot and the end effector, and a control unit to perform separation processing, allowing for the distinction and reduction of vibrations by using these models to calculate and adjust operation programs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional vibration measurement methods are used to measure vibrations at the distal end of the robot, then the measurement process is simple, but the measurement precision is insufficient because the end effector's vibrations are intertwined with those of the robot
Solution Approach 1:
The patent applies segmentation by dividing the combined vibration signal into separate components: robot body vibration and end effector vibration. The control unit performs separation processing to extract individual vibration characteristics from the mixed signal, enabling precise measurement of end effector vibrations without requiring additional physical sensors at the distal end.
Solution Approach 2:
The patent uses vibration calculation models as intermediaries to achieve precise vibration measurement. These models (robot model and end effector model) act as mediators that process the measured vibration signal to separate and identify the specific vibration characteristics of each component, thereby improving measurement precision without direct physical intervention.
2Reliability
If vibration reduction is performed without separating robot and end effector vibrations, then the control process is simple, but the vibration reduction effectiveness is poor
Solution Approach 1:
The control process segments the vibration reduction task into two distinct parts: reducing robot body vibrations and reducing end effector vibrations. By separating the vibration sources, the control unit can apply appropriate reduction strategies to each component, significantly improving overall vibration reduction effectiveness compared to treating them as a single system.
Solution Approach 2:
The patent implements feedback mechanisms where the control unit continuously monitors vibrations, separates them using calculation models, and adjusts control commands accordingly. This closed-loop feedback enables precise vibration reduction by constantly comparing actual vibrations with target values and making real-time corrections to the robot's operation.
3Productivity
If high-speed robot operation is implemented to improve productivity, then production efficiency increases, but vibration occurs at the distal end due to stiffness limitations
Solution Approach 1:
The patent converts the harmful vibration effect into useful information by measuring and analyzing the vibrations. Instead of simply viewing vibrations as detrimental to high-speed operation, the system uses vibration calculation models to extract meaningful data about the vibration sources, which then informs control adjustments that enable even higher speed operation without the negative effects.
Solution Approach 2:
The patent changes operational parameters dynamically to mitigate vibrations during high-speed operation. The control unit adjusts motion parameters such as acceleration, deceleration, and positioning based on the separated vibration data, allowing the robot to maintain high productivity while minimizing distal end vibrations through optimized motion profiles.
Data Source
AI summary
A vibration analyzer includes a sensor that measures a vibration of an end effector supported by a distal end of a robot, a storage unit that stores a vibration calculation model of the robot, and a control unit configured to perform separation processing for separating a vibration to be reduced that is measured by the sensor into vibration data of the robot and vibration data of the end effector by using the vibration calculation model of the robot.