Seven-Axis Robot Redundant Arm Interference Avoidance
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional six-axis robots face interference issues with their arm and other equipment, limiting their operating range, especially when trying to access narrow and deep spaces.
Innovation Solution
A seven-axis robot system is introduced, featuring a redundant arm that allows the control point to move linearly while maintaining direction, utilizing additional axes to increase the robot's range and avoid interference by employing a redundant axis that can move parallel to the existing axes, enabling the robot to operate in tighter spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a conventional six-axis robot is used, then the robot structure is simple, but the arm interferes with the robot main body and equipment, limiting the operating range
Solution Approach 1:
The patent introduces a redundant axis ( seventh axis) that is parallel to the second axis, adding a new dimension of motion freedom. This allows the robot to achieve the same end effector position through multiple different arm configurations, enabling the arm to avoid interference with the robot main body and surrounding equipment while maintaining the ability to access narrow and deep spaces
2Adaptability or versatility
If the robot arm is extended to reach narrow and deep spaces, then the operating range is improved, but the arm interferes with the robot main body and equipment
Solution Approach 1:
The patent enables dynamic configuration selection where the robot can switch between different arm postures to avoid interference. The redundant axis provides an additional degree of freedom that allows the control system to dynamically adjust the arm configuration, selecting postures that reach narrow and deep spaces while avoiding interference with the robot main body and surrounding equipment
3Adaptability or versatility
If a redundant arm is added to reduce interference, then the operating range is expanded, but the device complexity increases
Solution Approach 1:
The redundant axis is designed to be parallel to the existing second axis, adding motion freedom in a direction that does not require fundamentally new mechanical structures. This approach expands the operating range while keeping the increase in device complexity relatively limited compared to adding completely new types of actuators or mechanisms
Data Source
AI summary
A robot system includes a robot and a motion control unit. The robot includes a bottom, a swiveling base, first to third arms. A bottom side of the first arm is supported on the swiveling base swivelably around a horizontal-direction second axis. A bottom side of the redundant arm is supported on a leading side of the first arm swivelably around an axis parallel to the second axis. A bottom side of the second arm is supported on a leading side of the redundant arm swivelably around a third axis parallel to the second axis. A bottom side of the third arm is supported on a leading side of the second arm rotatably around a fourth axis perpendicular to the third axis. The motion control unit activates the redundant arm so that a control point provided on the fourth axis linearly moves while maintaining a direction of the fourth axis.