Speed Reducer Data Compensation for Robot Trajectory Accuracy
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Industrial robots and other master machines with incorporated speed reducers face challenges in achieving high trajectory and positioning accuracy due to individual differences in speed reducer performance, requiring burdensome adjustment work to compensate for these variations.
Innovation Solution
A master machine supporting system that includes a server storing performance data for each speed reducer, allowing for the transmission of this data and its use to control the machine's operation, thereby reducing the need for manual adjustments and accommodating individual performance differences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If speed reducers with individual performance differences are used in master machines, then manufacturing flexibility and cost-effectiveness are improved, but trajectory accuracy and positioning precision deteriorate due to individual variations
Solution Approach 1:
The system measures and stores individual performance parameters (such as transmission errors, backlash, stiffness) for each speed reducer, then uses these parameter values to create customized control programs that compensate for individual differences, thereby maintaining high trajectory accuracy while allowing manufacturing flexibility
Solution Approach 2:
Performance measurements of speed reducers are conducted in advance during the manufacturing process, and the obtained parameter data is stored in a database before the master machine is put into operation. This preliminary characterization allows the control system to pre-compensate for individual variations without requiring time-consuming on-site adjustments
2Manufacturing precision
If manual adjustment work is performed to compensate for speed reducer individual differences, then trajectory accuracy is improved, but operational burden and time consumption increase
Solution Approach 1:
The control system automatically generates customized control programs by retrieving stored performance parameter data for each speed reducer and processing it through algorithms that compensate for individual variations. This automated self-adjustment eliminates the need for manual intervention, significantly reducing adjustment time while maintaining high trajectory accuracy
3Manufacturing precision
If customized control programs are created for each speed reducer, then trajectory accuracy is improved, but system complexity and know-how requirements increase
Solution Approach 1:
A centralized database serves as an intermediary between speed reducer manufacturing and master machine operation. The database stores performance parameter data and provides it to the control system, which automatically generates customized control programs. This intermediary structure simplifies the overall system by separating the complexity of individual speed reducer characteristics from the master machine control logic
4Measurement precision
If performance data is stored and transmitted for each speed reducer, then operational precision is improved, but data management complexity and communication requirements increase
Solution Approach 1:
The database system is designed with a universal structure that can store various types of performance data for different speed reducer models and types. It provides standardized interfaces for data storage, retrieval, and transmission, enabling the system to handle diverse data formats and communication protocols through a single unified platform, thereby reducing data management complexity
Data Source
AI summary
A master machine supporting system includes a master machine in which a speed reducer is incorporated, and a server configured to store performance data of the speed reducer in association with a speed reducer ID of each speed reducer. The server transmits performance data corresponding to the speed reducer ID in response to a performance data transmission request including the speed reducer ID. The master machine receives an input of the performance data of the speed reducer incorporated in the master machine and controls an operation of the master machine based on the input performance data.