Vacuum-Clamped End Effector for Lightweight Robotic Machining
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Solution Overview
Problem
Large and robust machines are typically required for automated processing of workpieces, such as drilling holes or removing fasteners, due to the need to reach all portions of the workpiece and apply high processing forces, which limits the use of smaller and lighter-weight machines.
Innovation Solution
A system comprising a robotic manipulator with an end effector that includes a machine tool and an end-effector vacuum clamp, allowing the processing force to be reacted back into the workpiece, thereby reducing the required robustness of the machine and enabling smaller machines to perform these operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If large and robust machines are used for automated processing, then processing capability and reach are improved, but machine weight and complexity increase
Solution Approach 1:
The system divides the machine into two functional components: a lightweight robotic manipulator for positioning and a separate reaction force pathway that transfers forces directly to the workpiece. This segmentation allows the manipulator to be small and light while still enabling high-force processing operations through the reaction force mechanism.
Solution Approach 2:
The workpiece itself serves as an intermediary to absorb and react the processing forces. By designing the end effector to transfer reaction forces directly to the workpiece rather than requiring the machine structure to absorb them, the system enables lightweight machines to perform high-force operations that would otherwise require robust, heavy machinery.
2Force
If robust machines are used to apply high processing forces, then processing force capability is improved, but machine size and robustness requirements increase
Solution Approach 1:
The workpiece acts as a force intermediary, absorbing the reaction forces generated during processing operations. The end effector is designed to transfer these reaction forces directly to the workpiece, eliminating the need for the machine structure to be robust enough to handle these forces, thereby enabling high processing forces with simpler, lighter machinery.
Solution Approach 2:
The reaction force pathway is extracted from the machine structure and redirected to the workpiece. By separating the force application function from the machine structure, the system allows the machine to be lightweight while still delivering high processing forces, as the workpiece itself bears the reaction loads.
3Adaptability or versatility
If machines are designed to reach all portions of large workpieces, then accessibility is improved, but machine size increases
Solution Approach 1:
The system segments the functional requirements: the robotic manipulator provides positioning capability while the reaction force mechanism handles force application. This allows the use of smaller, more agile manipulators that can access difficult portions of workpieces without requiring the entire machine structure to be large and robust.
Solution Approach 2:
By using the workpiece as a force reaction intermediary, the system enables smaller machines to perform operations that would traditionally require large, robust machinery. The lightweight manipulator can reach distant portions of large workpieces because it doesn't need to carry the structural burden of force reaction.
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
Enables smaller and lighter-weight machines to perform machining operations like drilling and fastener removal on large workpieces by transferring processing forces back into the workpiece, facilitating easier movement and positioning without the need for extensive machine robustness.
Implementation Method 1
an end-effector vacuum clamp that is coupled to the machine tool. The end effector is releasably coupleable to a surface of a workpiece
Data Source
AI summary
A system for processing a workpiece includes a robotic manipulator and an end effector coupled to a working end of the robotic manipulator. The end effector includes a machine tool and an end-effector vacuum clamp that is coupled to the machine tool. The end effector is releasably coupleable to a surface of the workpiece. A processing force is reacted through the end effector and to the workpiece.