Tilted Tool Assembly for Angular Compensation in Robot Surface Machining
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Solution Overview
Problem
Conventional industrial robots have high inertia, making it difficult to achieve precise closed-loop control of process forces in robot-assisted surface machining, leading to angular deviations and diminished machining quality.
Innovation Solution
A device with a retainer and tilt mechanism allowing the machine tool to be tilted relative to the base plate about two axes of rotation, coupled with a linear actuator for precise force control, and a controller to adjust the orientation based on angular deviations, ensuring perpendicular contact with the workpiece surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a linear actuator is used to control process force, then force control precision is improved, but the system becomes more complex and requires additional components
Solution Approach 1:
The patent combines the linear actuator for force control with the tilt mechanism for angular compensation into a single integrated assembly mounted on the manipulator. This merging reduces overall system complexity while maintaining both force control precision and angular deviation compensation capabilities.
Solution Approach 2:
The linear actuator serves dual functions: it controls the process force between the machine tool and workpiece, and simultaneously compensates for angular deviations by tilting the assembly. This multi-functionality eliminates the need for separate force control and orientation adjustment mechanisms, reducing system complexity.
2Ease of operation
If the manipulator follows a trajectory parallel to the workpiece surface, then machining simplicity is maintained, but angular deviations occur when surface geometry varies
Solution Approach 1:
The patent introduces a dynamic tilt mechanism that allows the machine tool assembly to automatically adjust its orientation in real-time. The assembly can tilt about two orthogonal axes to compensate for angular deviations caused by varying workpiece surface geometry, maintaining perpendicular contact without requiring complex trajectory recalculation.
Solution Approach 2:
The tilt mechanism enables the system to self-correct angular deviations automatically. When the manipulator follows a simple parallel trajectory, the tilt mechanism passively adjusts the machine tool orientation to maintain perpendicular contact with the workpiece surface, eliminating the need for active trajectory compensation.
3Manufacturing precision
If the assembly is made tiltable about two axes, then angular deviation compensation is improved, but the device structure becomes more complex
Solution Approach 1:
The tilt mechanism is segmented into two independent rotational degrees of freedom about orthogonal axes. This segmentation allows each axis to compensate for deviations in different directions independently, achieving comprehensive angular compensation while keeping each individual mechanism relatively simple and manageable.
4Stability of the object's composition
If industrial robots with high inertia are used, then structural stability is maintained, but closed-loop force control responsiveness deteriorates
Solution Approach 1:
The system segments the control functions by separating force control from position control. The manipulator maintains stable position control with its high-inertia structure, while the lightweight linear actuator handles rapid force control adjustments. This functional segmentation allows each component to operate in its optimal performance range.
Solution Approach 2:
The linear actuator serves as an intermediary between the high-inertia manipulator and the workpiece. It mediates the force interaction by providing rapid force control adjustments without requiring the manipulator itself to respond quickly, thus maintaining overall system stability while achieving responsive force control.
Data Source
AI summary
A device for robot-assisted machining of surfaces is described below. According to an example, the device has a retainer with a base plate designed for mounting on a manipulator and has an assembly suspended on the retainer, the assembly comprising a machine tool. The retainer has a tilt mechanism which couples the assembly to the retainer in such a way that the assembly can be tilted relative to the base plate about two axes of rotation, wherein the two axes of rotation can intersect with one another and run through the assembly below the base plate.