Umbilical Member Simulation via Mass-Spring Model
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Solution Overview
Problem
Conventional robot simulation devices struggle to accurately simulate the behavior of umbilical members like hoses or cables due to their three-dimensional nature, making it difficult to adjust physical simulation model coefficients to match actual behavior.
Innovation Solution
A robot simulation device that generates a three-dimensional model of the umbilical member using mass points and springs, calculates forces at specified intervals, and automatically adjusts spring constants, attenuation coefficients, and repulsive forces to match actual behavior through stored data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a two-dimensional projection method is used to simulate umbilical member behavior, then the calculation complexity is reduced and simulation speed is improved, but the simulation accuracy deteriorates because the umbilical member is actually a three-dimensional article
Solution Approach 1:
The patent transitions from two-dimensional projection simulation to three-dimensional physical simulation by modeling the umbilical member as a stereo structure with mass points and springs in three-dimensional space. This dimensional upgrade enables accurate representation of the umbilical member's actual three-dimensional behavior while maintaining computational feasibility through automated coefficient adjustment.
2Measurement precision
If a three-dimensional physical simulation model is used to accurately simulate umbilical member behavior, then the simulation accuracy is improved, but the device complexity increases due to the need to adjust multiple coefficients
Solution Approach 1:
The simulation device performs self-adjustment of simulation coefficients by automatically comparing simulation results with actual umbilical member behavior data and iteratively optimizing the spring constant, attenuation coefficient, and repulsive force coefficient. This automated self-service mechanism eliminates the need for manual coefficient tuning, reducing operational complexity while maintaining high simulation accuracy.
Solution Approach 2:
The system implements feedback control by continuously comparing the simulation results with actual behavior data of the umbilical member and using this feedback to automatically adjust the simulation coefficients. The feedback loop enables iterative optimization of the spring constant, attenuation coefficient, and repulsive force coefficient to achieve accurate simulation results.
3Measurement precision
If manual adjustment of simulation coefficients is performed to match actual behavior, then the simulation accuracy can be improved, but the time consumption and operational complexity increase
Solution Approach 1:
The system performs preliminary automatic adjustment of simulation coefficients by comparing initial simulation results with actual behavior data and pre-optimizing the spring constant, attenuation coefficient, and repulsive force coefficient before actual simulation execution. This preliminary action eliminates the need for time-consuming manual coefficient adjustment during operation.
Solution Approach 2:
The patent replaces manual mechanical adjustment of simulation coefficients with automated computational adjustment. The system uses computer algorithms to automatically calculate and adjust the spring constant, attenuation coefficient, and repulsive force coefficient based on comparison between simulation results and actual behavior data, substituting manual operations with automated mechanical-computational processes.
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
The device achieves high accuracy in simulating umbilical member behavior, enabling more practical and precise offline teaching of robots by automatically adjusting model coefficients to match actual dynamics and collision responses.
Implementation Method 1
a simulating part configured to carry out a physical simulation wherein an elastic force of the spring, a gravity force and an attenuation force, which are applied to the mass point, are calculated at specified time intervals
Implementation Method 2
a simulating part configured to carry out a physical simulation wherein an elastic force of the spring, a gravity force and an attenuation force, which are applied to the mass point, are calculated at specified time intervals
Implementation Method 3
a simulating part configured to carry out a physical simulation wherein an elastic force of the spring, a gravity force and an attenuation force, which are applied to the mass point, are calculated at specified time intervals
Data Source
AI summary
An umbilical member arrangement unit for an umbilical member, having a function for automatically adjusting each coefficient used in the physical simulation model, corresponding to the actual behavior of the umbilical member. A simulation device has a three-dimensional model generating part configured to generate a three-dimensional model of a umbilical member as a stereo structure constituted by a plurality of mass points and a spring connecting the mass points to each other; a simulating part configured to carry out a physical simulation; a storing part configured to previously store an actual static behavior, an actual dynamic behavior, and an actual dynamic behavior of the umbilical member when colliding with a rigid body; and an automatically adjusting part configured to carry out automatic adjustment so that a result of the physical simulation coincides with the actual behaviors stored in the storing part.