Vacuum-Clamped End Effector for High-Force Workpiece Processing
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Solution Overview
Problem
Large and robust machines are typically required for automated processing of large workpieces, such as those in aerospace, to perform operations like drilling and fastener removal, 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 for the reaction of processing forces back into the workpiece, enabling smaller machines to perform robust operations by coupling the end effector to the workpiece surface using vacuum technology.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If large and robust machines are used for automated processing operations, then the machine can perform high-force operations and reach the entirety of large workpieces, but the machine size and weight increase
Solution Approach 1:
The system divides the machine into two functional components: a lightweight robotic manipulator for positioning and a separate reaction force path through the workpiece itself. This segmentation allows the manipulator to be small and light while still capable of performing high-force operations by reacting forces through the workpiece rather than generating them entirely through the manipulator.
Solution Approach 2:
The workpiece serves as an intermediary structure that receives and reacts the processing forces. Instead of the machine generating all reaction forces, the workpiece acts as a mediator that absorbs and reacts the forces, enabling the use of lighter manipulators that would otherwise be insufficient for high-force operations.
2Force
If large and robust machines are used for automated processing operations, then the machine can perform high-force operations, but the device complexity increases
Solution Approach 1:
The workpiece serves multiple functions: it is both the object being processed and the structure that reacts the processing forces. This multi-functionality eliminates the need for separate, complex force-generation and force-reaction systems, simplifying the overall machine design while maintaining high-force capability.
Solution Approach 2:
The workpiece serves itself by providing the reaction force path for the processing operations. Instead of requiring the machine to provide all structural support and force reaction, the workpiece utilizes its own structure to react the forces, reducing the complexity requirements of the processing machine.
3Weight of moving object
If smaller and lighter-weight machines are used, then the machine size is reduced and flexibility is improved, but the machine cannot perform high-force operations
Solution Approach 1:
The system transfers the force reaction path from the machine structure to the workpiece structure, effectively moving the force-handling capability to a different dimension (the workpiece rather than the machine). This allows the machine to be lightweight while still achieving high-force operations through the workpiece's structural capacity.
Solution Approach 2:
The workpiece acts as a counterbalance or counter-structure that provides the reaction forces needed for high-force operations. Instead of the machine needing to generate all reaction forces internally, the workpiece provides an opposing force path that enables lightweight machines to perform robust 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
Enables smaller and lighter-weight machines to perform machining operations on large workpieces by transferring processing forces back into the workpiece, reducing the required robustness of the machines and allowing for more flexible and efficient processing.
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
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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.