Robotic Arm Part Positioning With Free-Space Error Correction
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Solution Overview
Problem
Robotic arms often position parts with errors of several millimeters, leading to potential collisions with other parts during correction, especially in complex objects like aircraft where many parts need precise positioning.
Innovation Solution
A method involving a robotic arm that positions a part at a second target spatially separated from the object build frame, applies corrections in free space, and uses relative moves to accurately position the part at the first target, minimizing collisions and errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If a robotic arm directly positions a part at the target position, then the positioning process is simple and quick, but positioning errors of several millimeters occur leading to potential collisions with other parts
Solution Approach 1:
The positioning process is divided into multiple stages: first moving the part to an intermediate position, then applying corrections, and finally moving to the target position. This segmentation allows each stage to be optimized independently, achieving high precision without excessive overall complexity.
Solution Approach 2:
The part is moved to an intermediate position before the final target position, and corrections are applied in advance. This preliminary positioning and correction approach prevents collision issues that would occur if corrections were attempted at the final position.
2Manufacturing precision
If correction operations are applied to parts with millimeter-level errors, then positioning accuracy improves, but the part may collide with previously positioned parts
Solution Approach 1:
Corrections are applied while the part is at an intermediate position, before moving to the final target position. This preliminary correction approach ensures accuracy is achieved without the collision risks associated with adjusting parts already in their final positions among other components.
Solution Approach 2:
An intermediate position is introduced as a mediator between the initial and final positions. This intermediate state allows correction operations to be performed in a safe zone away from other parts, eliminating collision risks while maintaining positioning accuracy.
3Manufacturing precision
If multiple correction operations are performed to achieve high precision, then positioning accuracy improves, but the time required for part positioning increases
Solution Approach 1:
The positioning and correction process is segmented into distinct phases performed at different locations. This allows parallel optimization of each phase and reduces total time compared to iterative corrections at the final position.
Solution Approach 2:
Major corrections are performed preliminarily at the intermediate position before final positioning. This reduces the need for multiple iterative corrections later, thereby reducing total positioning time while maintaining high accuracy.
Data Source
AI summary
A method of using a robotic arm to position a part of an object at a first target position with respect to an object build frame comprising obtaining, by the robotic arm, the part; determining a move operation to apply to the part that moves the part to a second target position spatially separated from the object build frame; moving, by the robotic arm, the part according to the move operation; obtaining an actual position of the part; determining a correction operation to apply to the part that moves the part from the actual position to the second target position; moving, by the robotic arm, the part according to the correction operation; determining a relative move operation to apply to the part that moves the part from the second target position to the first target position; and moving, by the robotic arm, the part according to the relative move operation.