Articulated Arm Tool Pressing Without Slip on Deformable Surfaces
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Solution Overview
Problem
Existing methods for positioning tools at the end of an articulated arm on aircraft surfaces during manufacturing operations face challenges in maintaining precise orientation and preventing sliding, leading to potential deformations and reduced manufacturing quality due to the limitations of existing compensation methods and increased complexity and cost.
Innovation Solution
A method involving iterative steps to apply a controlled force to the tool, measuring reaction forces, and adjusting the tool's orientation to ensure it remains within the friction cone, using a device with ball joints and sensors to stabilize the tool's position relative to the surface, allowing for precise alignment and prevention of sliding.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If force is applied perpendicular to the surface to position the tool, then the tool can be positioned against the surface, but the surface deforms and the tool slips
Solution Approach 1:
The patent applies preliminary anti-action by measuring the reaction force before the tool performs its manufacturing operation, and using this measurement to adjust the articulated arm's position in advance to compensate for expected deformations. This prevents tool slippage by pre-positioning the tool to account for surface deformation that will occur when force is applied.
Solution Approach 2:
The patent implements feedback by using sensors to measure the reaction force between the tool and surface, then feeding this information back to the control system which adjusts the articulated arm's degrees of freedom accordingly. This closed-loop control maintains the tool's normal orientation relative to the surface despite deformations caused by applied force.
2Manufacturing precision
If compensation methods are used to prevent tool slippage, then tool positioning accuracy is maintained, but device complexity increases
Solution Approach 1:
The patent replaces complex mechanical compensation mechanisms with a sensor-based measurement and control system. Instead of using multiple mechanical joints and linkages to physically compensate for slippage, the system uses reaction force sensors and computational algorithms to calculate and apply corrective positioning, simplifying the mechanical structure while maintaining precision.
3Power
If force is applied to the tool against the surface, then the tool can perform manufacturing operations, but deformations occur at the articulated arm joints
Solution Approach 1:
The patent uses feedback from reaction force sensors to monitor the forces transmitted through the articulated arm joints. The control system processes this information and adjusts each joint's positioning in real-time to compensate for deformations, maintaining the overall stability of the articulated arm structure while allowing necessary force application for manufacturing operations.
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 approach ensures the tool maintains its desired position during operations, preventing sliding and deformations, while simplifying the process and reducing the size and cost of the device, thereby enhancing manufacturing quality and efficiency.
Implementation Method 1
the tool is capable of pivoting relative to the surface when positioned against said surface... so as to prevent the slippage of the tool on the surface
Data Source
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Figure 5a~5i
AI summary
Method for causing a tool (1) at the end of an articulated arm (2) to press with a force (F) against a surface (3) of normal (N), comprising the steps: (a) positioning the tool (1) against the said surface (3), (b) applying to the tool (1) a force that increases until it reaches a value (Fn) corresponding to a fraction of the force (F), the value of the force (Fn) applied being controlled, (c) measuring the orientation of the tool (1) with respect to the normal (N) after having reached the said force value (Fn), (d) re-orientating the tool (1) so that it regains its initial orientation with respect to the normal (N), which method proceeds by successive iterations, repeating steps (b) to (d), progressively increasing the force (Fn) on each iteration, and until the force value (F) is reached, the incremental increase (∆Fn) between two successive levels (Fn) being below a determined value.