Robotic Polishing Arm Positioning to Limit Vibration
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Solution Overview
Problem
Existing polishing systems face challenges such as operator variability, difficulty in accessing component locations, vibrations during robotic operation, and the need for extensive calibration and programming, which increase the time required for polishing.
Innovation Solution
A motorized apparatus with a drive system, arm, and polishing tool, controlled by a controller that positions the tool relative to the component while maintaining a distance below a threshold to prevent vibrations, allowing for precise and efficient polishing of hard-to-reach areas without extensive setup.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robotic system is used to automate polishing, then operator variability is eliminated and polishing consistency is improved, but the system experiences vibrations during operation that affect polishing results
Solution Approach 1:
The system changes the operational parameters by limiting the arm's extension distance to remain below a threshold value. This parameter change reduces vibrations during polishing operations while maintaining the automation benefits, directly resolving the contradiction between polishing consistency and vibration control
2Adaptability or versatility
If the robotic arm extends to reach distant locations on the component, then accessibility to hard-to-reach areas is improved, but vibrations increase and affect polishing quality
Solution Approach 1:
The system implements a threshold distance parameter that limits how far the robotic arm can extend from the body. This parameter change ensures the arm remains within a vibration-free zone while still providing adequate accessibility to most component surfaces, resolving the contradiction between accessibility and vibration control
3Adaptability or versatility
If the robotic system is installed at new locations, then versatility to treat different components is improved, but calibration and programming time increases the total polishing time
Solution Approach 1:
The robotic system is designed with universal features including a reconfigurable arm with adjustable threshold distances and a body that can be positioned at various locations. This universality allows the same system to adapt to different components and locations without requiring extensive recalibration, resolving the contradiction between versatility and setup time
4Adaptability or versatility
If the arm is extended to its full reach to access target areas, then accessibility is improved, but vibrations exceed acceptable levels and polishing precision deteriorates
Solution Approach 1:
The system establishes a threshold distance parameter that defines the maximum safe extension of the arm. By changing the operational parameter from full reach to threshold-based reach, the system maintains polishing precision while still providing sufficient accessibility to target areas
Data Source
AI summary
A system for polishing a surface of a component includes a motorized apparatus including a body, a drive system coupled to the body, and an arm including a proximal end coupled to the body and a distal end opposite the proximal end. The motorized apparatus further includes a tool coupled to the distal end of the arm. The tool is configured to polish the surface of the component. The motorized apparatus also includes an actuator coupled to the arm. The system also includes a controller configured to position the tool relative to the component by positioning at least one of the body and the arm relative to the component to reach the target area on the component while maintaining a distance between the tool and the body that is less than a threshold distance. The threshold distance is less than a full reach of the arm and is determined to prevent vibrations of the tool and the arm from exceeding a predefined level.