Robotic Tool Selectable Compliance Lockout Rod
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Solution Overview
Problem
Industrial robotic tools lack the ability to selectively control compliance modes, which is essential for both single axis and multi-axis programming applications, requiring separate tools and increased programming complexity.
Innovation Solution
A robotic tool with a longitudinal shaft and a moveable lockout rod that allows for 360 degrees of radial compliance or limited compliance to one radial direction, achieved through a two-axis concentric ring gimbal and a lockout rod that can be rotated between positions to change compliance modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If compliance is provided in 360 degrees radially from the centered axis, then the tool can follow fine features of the workpiece in any direction, but the tool may bounce in any direction off the work surface, reducing control precision
Solution Approach 1:
The patent implements a selectable compliance mode mechanism that dynamically changes the degree of freedom of the shaft. The mechanism allows the shaft to transition between full 360-degree radial compliance and limited single-axis compliance, enabling the system to adapt its compliance characteristics based on operational requirements rather than being fixed in one state.
2Manufacturing precision
If a robotic tool is designed for single axis programming with limited compliance, then control precision is improved, but the tool cannot follow fine features in multiple directions
Solution Approach 1:
The patent creates a universal robotic tool that can perform both single-axis and multi-axis compliance operations through a selectable mode mechanism. The same tool can be configured for precision single-direction control when needed, or switched to full 360-degree compliance for following complex workpiece features, eliminating the need for separate specialized tools.
3Reliability
If separate tools are used for single axis and multi axis programming applications, then each tool is optimized for its specific application, but device complexity and cost increase
Solution Approach 1:
The patent merges the functionality of two separate compliance-mode tools into a single robotic tool by incorporating a selectable compliance mechanism. This consolidation reduces the total number of tools required in the system while maintaining the ability to optimize for either single-axis or multi-axis applications as needed.
Solution Approach 2:
The patent implements a dynamic compliance selection mechanism that allows the single tool to adapt its compliance characteristics based on the required application. The mechanism enables real-time switching between full 360-degree radial compliance and limited single-axis compliance, providing application-specific optimization without requiring separate dedicated tools.
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
Enables a single robotic tool to operate in both full and limited compliance modes, simplifying programming and reducing costs by allowing the same tool to be used in various applications, while maintaining precise control.
Implementation Method 1
A lockout rod is moveable between first and second positions. In the first position, the lockout rod allows the longitudinal shaft to move with 360 radial degrees of compliance about the longitudinal axis. In the second position, the lockout rod limits compliance of the longitudinal shaft to only one radial angle from the longitudinal axis.
Implementation Method 2
achieved through a two-axis concentric ring gimbal and a lockout rod that can be rotated between positions to change compliance modes
Implementation Method 3
the lockout rod is shaped and positioned such that it moves between the first and second positions by rotational motion about its own longitudinal axis
Data Source
AI summary
A robotic tool has a longitudinal shaft, defining a longitudinal axis when the shaft is in a default, centered position. A lockout rod is moveable between first and second positions. In the first position, the lockout rod allows the longitudinal shaft to move with 360 radial degrees of compliance about the longitudinal axis. In the second position, the lockout rod limits compliance of the longitudinal shaft to only one radial angle from the longitudinal axis. In one embodiment the lockout rod is positioned adjacent (e.g., above or below) part of one ring of a 2-axis concentric ring gimbal. The lockout rod is shaped so as to not contact any part of the gimbal in the first position, allowing compliance in a full 360 radial degrees. In the second position, the lockout rod limits the motion of one ring of the gimbal, limiting compliance of the shaft to motion of the other ring, which is necessarily limited to only one radial angle. In one embodiment the lockout rod is shaped and position such that it moves between the first and second positions by rotational motion about its own longitudinal axis.