Adaptive Gripper Control Using Safety Factor for Eccentric Loads
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Solution Overview
Problem
Conventional handling devices face challenges in stably holding objects of varying sizes and weights due to limitations in gripping and friction holding methods, particularly when objects are large or have an uneven center of gravity, leading to instability during transport.
Innovation Solution
A handling device equipped with two or more supporting parts that calculate a safety factor to determine the optimal gripping position and pressure, ensuring stable holding by adjusting the position and force applied to prevent object drop during transport.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If friction holding is used to hold various articles freely, then versatility is improved, but stability deteriorates when the object is large or eccentric
Solution Approach 1:
The invention changes the holding parameters dynamically by calculating the safety factor based on object weight, center of gravity position, and holding position. The controller adjusts the holding force and position according to the calculated safety factor, allowing the system to adapt to different object characteristics while maintaining stable holding.
Solution Approach 2:
The invention introduces a feedback mechanism where the safety factor is calculated based on object parameters and holding conditions, and this calculated safety factor is used to adjust the holding force and position. This closed-loop control ensures stable holding by continuously optimizing the holding parameters based on the actual state.
2Volume of moving object
If the holding position is far from the center of gravity, then the hand can hold large objects, but stability deteriorates and the object may fall
Solution Approach 1:
The invention dynamically changes the holding parameters by calculating the safety factor that considers the distance from the center of gravity. When holding large objects, the system adjusts the holding force and position based on the calculated safety factor, allowing flexible holding positions while maintaining stability through parameter optimization.
3Reliability
If the holding position is close to the center of gravity, then stability is improved, but the ability to hold large objects deteriorates
Solution Approach 1:
The invention optimizes holding parameters by calculating the safety factor that balances stability and object size accommodation. The system can hold large objects at various positions by adjusting the holding force according to the safety factor, eliminating the need to restrict holding positions near the center of gravity.
4Reliability
If inclusion holding is used, then small objects can be held, but versatility deteriorates due to limited space
Solution Approach 1:
The invention transitions from fixed inclusion holding to dynamic friction holding with safety factor calculation. This allows the system to adapt to various object sizes and shapes by optimizing holding parameters, significantly improving versatility while maintaining reliable holding through calculated safety factors.
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 effectively stabilizes the holding of objects by selecting the safest gripping method based on calculated safety factors, enhancing the reliability of handling and transport operations.
Implementation Method 1
friction holding is the mainstream as a method for holding various articles freely
Data Source
AI summary
According to one embodiment, a handling device includes: a holding part that includes two or more supporting parts and is capable of holding an object by gripping the object with the two or more supporting parts; a calculation part configured to calculate a safety factor indicating safety of a state of the holding part holding the object; and a controller configured to cause the holding part to hold the object according to the safety factor.