Task-Specific Robotic Manipulator Design with Collision-Aware Optimization
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Solution Overview
Problem
Conventional robotic manipulator manufacturers offer fixed sizes, leading to oversized or suboptimal robotic arms that do not cater to specific tasks, lacking customization and efficiency.
Innovation Solution
A computer system uses an iterative algorithm to generate customized robotic manipulator designs by minimizing an objective function subject to constraints, incorporating discrete and continuous hardware parameters, and employing hyperplane separation to avoid collisions, thereby optimizing joint torque, cycle time, and trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If fixed-size robotic arms are used, then manufacturing simplicity is improved, but task-specific optimization deteriorates
Solution Approach 1:
The patent implements dynamic sizing of robotic arm components where the length of segments and configuration of joints are optimized based on specific task requirements. The system allows customization of robotic arm dimensions and parameters to match particular application needs, transforming the static fixed-size design into a dynamic, task-adaptive configuration.
2Adaptability or versatility
If oversized robotic arms are selected, then task coverage is improved, but efficiency deteriorates
Solution Approach 1:
The patent optimizes specific parameters of the robotic arm including segment lengths, joint positions, and link dimensions to precisely match task requirements. By adjusting these parameters, the system achieves optimal task coverage without the inefficiencies of oversized components, improving productivity through precise parameter matching rather than generic over-sizing.
Solution Approach 2:
The robotic arm is divided into multiple segments with independently optimizable lengths and configurations. This segmentation allows each portion of the arm to be sized appropriately for its specific function, preventing the inefficiency of uniformly oversized design while maintaining comprehensive task coverage capability.
3Loss of time
If conventional design methods are used, then development time is reduced, but design optimization deteriorates
Solution Approach 1:
The patent replaces traditional manual or iterative mechanical design methods with automated computational optimization algorithms. These algorithms rapidly evaluate numerous design configurations and converge on optimal solutions, achieving both speed (reduced development time) and precision (superior design optimization) that conventional methods cannot simultaneously provide.
Solution Approach 2:
The system uses computational models and simulations to create virtual copies of robotic arm designs for rapid evaluation and optimization. This allows multiple design iterations to be tested computationally before final manufacturing, achieving high design optimization without proportionally increasing physical development time.
Data Source
AI summary
Techniques for generating robot design specialized for a particular task are described herein. For example, a computer system can receive a first configuration of design parameters for a robotic manipulator that can be used to perform a particular task involving manipulating an object between a set of positions. The design parameters can include discrete hardware parameters. The computer system can set one or more constraints including a waypoint through which the robotic manipulator travels to perform the particular task. The computer system can generate, using an iterative algorithm and based at least in part on the first configuration of design parameters, (i) a second configuration of design parameters and (ii) a trajectory associated with the second configuration for performing the particular task between the set of positions by minimizing an objective function subject to the constraints.