Robotic Manipulation Spatial Adjustment System
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Solution Overview
Problem
Robotic systems face challenges in achieving precise target manipulations due to the need for specialized components and techniques, which increase complexity and cost, and require strict tolerance in joint precision across the kinematic chain, making it difficult to handle lightweight objects with sub-millimeter or sub-degree precision.
Innovation Solution
A spatial adjustment system separate from the robotic manipulator, comprising a tracking system and positioning system, works in concert with the robotic manipulator to achieve high spatial precision by detecting the manipulator's position and adjusting the target workpiece, allowing for precise alignment without requiring all joints in the kinematic chain to operate within tight position error tolerances.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If strict tolerance requirements are imposed on all joints in the kinematic chain to achieve sub-millimeter precision at the end effector, then manufacturing precision is improved, but device complexity and cost increase significantly
Solution Approach 1:
The system divides the positioning function into two independent segments: the robotic arm provides coarse positioning, while a separate spatial adjustment system (positioning platform with actuators) provides fine positioning. This segmentation allows each subsystem to operate at relaxed tolerances while achieving high overall precision through their coordinated operation.
Solution Approach 2:
A spatial adjustment system acts as an intermediary between the robotic arm and the workpiece. This intermediary system compensates for positioning errors from the robotic arm by making fine adjustments to the workpiece position, thereby achieving high precision without requiring the robotic arm joints to operate at tight tolerances.
2Manufacturing precision
If specialized components and techniques are used to achieve high-precision target manipulations, then manufacturing precision is improved, but ease of manufacture deteriorates
Solution Approach 1:
The spatial adjustment system serves multiple functions: it provides fine positioning, compensates for robotic arm errors, and can accommodate different workpieces. By using standard components with multi-functionality, the system achieves high precision without requiring specialized task-specific components, thereby improving ease of manufacture.
3Adaptability or versatility
If the robotic manipulator is extended to reach distant targets, then adaptability is improved, but measurement precision deteriorates due to cumulative errors in the kinematic chain
Solution Approach 1:
The system replaces reliance on mechanical precision of extended kinematic chains with an optical/electronic tracking system. The tracking system directly measures the position of the workpiece and robotic end effector, eliminating cumulative mechanical errors from the kinematic chain and maintaining high precision over extended reach distances.
Data Source
AI summary
Systems and methods for providing precise robotic operations without the need for special or task-specific components utilize, in one implementation, a spatial adjustment system, physically separate from the robotic manipulator, supports the target workpiece and works in concert with the robotic manipulator to perform tasks with high spatial precision.