Robotic Manipulator Center of Mass Identification
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Solution Overview
Problem
Determining the center of mass for complex assemblies with multiple parts in varying orientations and materials is time-consuming and labor-intensive, requiring complex testing setups and significant labor, which extends production time.
Innovation Solution
A manipulator assembly configured with a force and torque sensor that orients the assembly in multiple orientations and measures forces and torques to rapidly and accurately determine the center of mass, allowing for in-line identification during production or testing without the need for separate measurement stations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional load table methods are used to determine center of mass, then measurement precision can be achieved, but the process is time-consuming and labor-intensive, extending production time
Solution Approach 1:
The patent replaces the traditional mechanical load table system with a robotic manipulator system equipped with force/torque sensors. The manipulator automatically positions the assembly in multiple orientations and measures forces and torques, eliminating the need for manual loading, unloading, and repositioning operations required by load tables, thereby significantly reducing measurement time while maintaining accuracy
Solution Approach 2:
The system performs preliminary computational modeling and simulation to predict the center of mass location before physical measurement. The manipulator assembly is designed with pre-configured sensor mounting and automated positioning capabilities, allowing rapid measurement execution without time-consuming setup procedures
2Measurement precision
If complex testing setups with load tables are used, then measurement precision is achieved, but device complexity and labor requirements increase
Solution Approach 1:
The robotic manipulator system serves multiple functions: it positions the assembly in various orientations, measures forces and torques through integrated sensors, and executes automated calculations. This multi-functional approach replaces the need for separate load tables, positioning fixtures, and measurement devices, thereby reducing overall system complexity while maintaining measurement precision
Solution Approach 2:
The patent combines the manipulator arm, force/torque sensors, control system, and computational algorithms into an integrated measurement system. This unified approach consolidates what would otherwise require separate load table equipment, positioning mechanisms, and manual calculation procedures, reducing both device complexity and operational labor
3Ease of operation
If manual measurement procedures are used, then flexibility is maintained, but time consumption and labor costs increase significantly
Solution Approach 1:
The system performs self-service through automated manipulation and measurement. The robotic manipulator automatically positions the assembly, the force/torque sensors automatically measure forces and torques, and the control system automatically calculates the center of mass. This eliminates the need for manual intervention in measurement execution, reducing time consumption while maintaining operational flexibility through programmable positioning and measurement sequences
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach significantly reduces the time and labor required to identify the center of mass, enabling rapid and accurate determination in minutes, thereby minimizing production delays and labor costs.
Implementation Method 1
a force and torque sensor configured to measure force and torque transmitted from the work piece to the manipulator assembly
Implementation Method 2
positioning the work piece in at least two different orientations relative to a gravity vector
Data Source
AI summary
A method and system for identifying a work piece center of mass includes coupling a work piece to a manipulator assembly. The manipulator assembly includes a force and torque sensor. The work piece is positioned in at least two different orientations relative to a gravity vector with the manipulator assembly. The at least two different orientations include at least first and second orientations. In the first orientation the force and torque sensor measures a first torque and at least a first force associated with the work piece in the first orientation. In the second orientation the force and torque sensor measures a second torque associated with the work piece in the second orientation. The work piece center of mass is identified according to at least the measured first and second torques and at least the first force.