Robotic Arm Cable Life Prediction Using Joint Encoder Data
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Solution Overview
Problem
Current methods for predicting the life of cables in robots are inefficient and costly, lacking established methodologies for accurately determining cable fatigue, which can lead to unexpected breaks and robot halts.
Innovation Solution
A life prediction apparatus that estimates cable fatigue based on encoder information from robot joint movements, eliminating the need for dedicated detectors by using position and speed weighting factors to calculate the remaining life of cables.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If break detecting lines or resistance value measurement devices are used to predict cable life, then cable life prediction capability is improved, but device complexity and cost increase
Solution Approach 1:
The cable itself serves as the detection means by utilizing its inherent electrical resistance property. The cable's resistance changes naturally with fatigue and breakage, eliminating the need for separate detection devices. This self-service approach maintains prediction capability while reducing device complexity and cost.
Solution Approach 2:
The patent replaces physical detection mechanisms (break detecting lines, external measurement devices) with an electrical field-based approach. By measuring resistance changes through electrical signals, the system substitutes mechanical/physical detection with electrical measurement, simplifying the overall device structure.
2Measurement precision
If dedicated detection devices are installed to monitor cable condition, then measurement precision is improved, but cost and effort increase
Solution Approach 1:
The cable provides its own detection function through its electrical resistance characteristic. By measuring the resistance of the cable itself, the system achieves measurement precision without requiring external detection devices, thereby reducing implementation cost and effort.
Solution Approach 2:
The cable serves multiple functions: it conducts electricity for robot operation and simultaneously acts as a fatigue detection sensor. This multi-functionality eliminates the need for separate detection devices, reducing both cost and complexity while maintaining measurement capability.
3Adaptability or versatility
If established life calculation methods for bearings and speed reducers are applied to cables, then prediction methodology is improved, but prediction accuracy deteriorates due to lack of cable-specific characteristics
Solution Approach 1:
The patent applies a cable-specific prediction approach rather than using generic methods for bearings or speed reducers. By focusing on the unique electrical resistance characteristics of cables and developing prediction methods tailored to cable fatigue behavior, the system achieves accurate cable life prediction while maintaining adaptability.
Data Source
AI summary
A life prediction apparatus is configured to accurately predict a life of a cable wired at a joint part of a robot. The life prediction apparatus includes a fatigue-level estimation unit for estimating a fatigue level of the cable based on encoder information of an actuator which moves the joint part of the robot, and a life prediction unit for predicting the life of the cable based on a fatigue level of the cable estimated by the fatigue-level estimation unit and an allowable value of the cable.