Switchable Compensating Device for Manipulator Positioning
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Solution Overview
Problem
Manipulators, such as articulated-arm robots, face challenges in accurately positioning items due to unknown or inaccurate workpiece positioning and positional deviations over time, leading to faults during pick-and-place tasks.
Innovation Solution
A method for operating a manipulator with a compensating device that allows relative shift between the robot flange and tool flange, switchable between rigid connection and resilient bias, enabling precise positioning by sensing and adjusting for displacement and force during tool movement, and locking into a zero position for exact manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the manipulator uses a compensating device to allow relative shift between robot flange and tool flange, then positioning accuracy is improved, but device complexity increases
Solution Approach 1:
The compensating device is designed to be switchable between a first operating state (rigid connection) and a second operating state (resilient connection allowing relative shift). This dynamic reconfiguration allows the system to adapt its degree of freedom based on operational requirements, providing positioning compensation when needed while maintaining structural simplicity during precision tasks.
Solution Approach 2:
The manipulator system is divided into distinct functional segments: the robot flange, the compensating device, and the tool flange. This segmentation allows the compensating device to be independently controlled and switched between operating states, enabling precise positioning compensation without affecting the entire manipulator system's complexity.
2Stability of the object's composition
If the compensating device is locked in rigid connection, then structural stability is improved, but adaptability to positional deviations deteriorates
Solution Approach 1:
The compensating device transitions dynamically between locked (rigid) and unlocked (resilient) states. In the locked state, structural stability is maximized for precision operations. In the unlocked state, the device allows relative shifts to compensate for positional deviations, thereby adapting to workpiece positioning errors and accumulation deviations.
Solution Approach 2:
The operating state of the compensating device (rigid vs. resilient) is changed based on operational requirements. This parameter change allows the system to switch between high stability mode and high adaptability mode, optimizing performance for different task requirements.
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
This method simplifies the handling of imprecisely positioned items by allowing relative displacement and sensing of positional deviations, ensuring accurate positioning and preventing collisions or misplacement during tasks like pick-and-place, welding, or painting.
Implementation Method 1
the two components preferably being biased in the direction of the zero position via a spring arrangement
Data Source
AI summary
A method is for operating a manipulator that has a movement device, a compensating device, and a tool. In the method, a relative displacement of the compensating device, with respect to a target position, is sensed during setting-up and is taken into account in a subsequent control of the manipulator.