Serial Spring Compensator for Directional Stiffness Control
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Solution Overview
Problem
Existing compensating devices between robot manipulators and end effectors lack the ability to have different spring stiffness characteristics in various spatial directions, making them less effective in specific handling tasks and unable to selectively block degrees of freedom while maintaining spring travel in other directions, and they do not measure relative displacements, complicating position determination.
Innovation Solution
A modular compensating device with multiple spring assemblies, each providing specific pretension in different degrees of freedom, allowing for customizable spring stiffness and blocking capabilities, and incorporating a sensor system to measure and adjust compensating movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single spring is used in the ball plunge joint, then the structure is simple and compact, but the spring stiffness is uniform in all spatial directions which is insufficient for specific handling operations requiring different stiffness characteristics
Solution Approach 1:
The single spring is divided into multiple spring assemblies (first, second, and third spring assemblies) that can be independently configured. Each spring assembly targets specific degrees of freedom, allowing different stiffness characteristics in different spatial directions while maintaining a modular structure that doesn't excessively increase complexity.
Solution Approach 2:
Different spring assemblies are assigned to different spatial directions and degrees of freedom based on the specific handling requirements. This allows local optimization of stiffness characteristics in preferred directions while maintaining simpler characteristics in non-preferred directions, matching the specific needs of handling operations.
2Adaptability or versatility
If all degrees of freedom are allowed to move freely with spring compensation, then positioning flexibility is maximized, but the ability to block unnecessary movements is lost
Solution Approach 1:
The compensating device transitions from a static configuration to a dynamic one where degrees of freedom can be selectively blocked or released based on operational needs. The blocking mechanism allows the system to adapt its mobility characteristics in real-time, enabling precise control over which movements are permitted and which are constrained.
3Measurement precision
If relative displacements are not measured, then the device structure remains simple, but determination of final position and spatial coordinates becomes difficult
Solution Approach 1:
Sensor assemblies are integrated into the compensating device to measure relative displacements between the ball portion and conical receptacle. This measurement feedback is transmitted to the control unit, which uses the data to accurately determine the final position and spatial coordinates of the end effector, enabling precise position control.
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 precise and flexible handling by allowing easier displacement in preferred directions, blocking unnecessary movements, and measuring compensating actions to improve positioning accuracy and adaptability in complex tasks.
Implementation Method 1
a first spring assembly which is disposed in the region of the manipulator attachment point and applies pretension along the longitudinal direction of the housing translationally in the direction of a Z-axis
Implementation Method 2
a second spring assembly which is disposed in series to the first and applies pretension rotationally about an X- and a Y-axis
Data Source
AI summary
A compensating device includes a sleeve-shaped compensating device housing which includes an end portion which faces a manipulator and has a manipulator attachment point and, on an opposite end portion, an end effector attachment point configured to rotate and be displaced relative to the housing. A first spring assembly disposed in the region of the manipulator attachment point is configured to apply pretension along a longitudinal direction of the housing translationally in a direction of a Z-axis to the effector attachment point, a second spring assembly disposed in series to the first spring assembly is configured to apply pretension rotationally about an X-axis and a Y-axis to the effector attachment point, and a third spring assembly is disposed in series to the second spring assembly and is configured to apply pretension translationally along the X-axis and the Y-axis direction and rotationally about the Z-axis to the effector attachment point.