Capacitive 6-Axial Force Sensor Segmentation
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Solution Overview
Problem
Existing multi-axial force/torque sensors, particularly resistive and optical types, face challenges in assembly complexity and cost, leading to non-uniform sensor reactions and increased quality management costs, limiting their widespread use in applications like robotics.
Innovation Solution
A capacitive type 6-axial force/torque sensor with a simple structure featuring a circular circuit board, radially disposed electrodes, and an adjustable air gap between the circuit board and a metal electrode plate, which measures force and torque based on capacitance variations, preventing stress-relaxation phenomena in dielectric materials.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If resistive type sensors using strain gauges are used to measure multi-axial force/torque, then measurement capability is improved, but assembly complexity and cost increase
Solution Approach 1:
The sensor is divided into independent functional modules: a support body, a movable body with capacitive sensing elements, and a separate signal processing unit. This segmentation allows each module to be manufactured and tested independently, then assembled together, reducing overall assembly complexity while maintaining measurement capability.
Solution Approach 2:
The patent replaces the mechanical strain gauge attachment system with a capacitive sensing system. Instead of mechanically attaching strain gauges to measure deformation, the invention uses capacitive elements that detect displacement and force through electrical field changes, eliminating the need for complex mechanical assembly of strain gauges.
2Measurement precision
If optical type sensors using photodiodes/phototransistors are used to measure force, then measurement capability is improved, but assembly complexity and cost increase
Solution Approach 1:
The patent replaces the optical sensing system with a capacitive sensing system. Instead of using photodiodes and phototransistors to detect light changes caused by force, the invention uses capacitive elements that directly measure force and displacement through electrical capacitance changes, eliminating the need for complex optical component assembly.
Solution Approach 2:
The patent changes the measurement parameter from optical properties (light emission/detection) to electrical properties (capacitance). This parameter change simplifies the sensing mechanism by using electrical fields instead of optical fields, reducing assembly complexity while maintaining force measurement capability.
3Manufacturing precision
If manual labor from skilled persons is used for assembling sensors, then assembly quality is improved, but production cost and time increase
Solution Approach 1:
The sensor is designed with segmented, modular components that can be manufactured using standardized processes and then assembled through simple, repeatable procedures. This segmentation enables automation of the assembly process, reducing reliance on skilled manual labor while maintaining consistent assembly quality across production batches.
Solution Approach 2:
The patent employs universal mounting structures and standardized interfaces for the capacitive elements and support body. These universal features allow the same assembly procedures to be used across different sensor configurations, enabling automation and reducing the need for skilled manual assembly while ensuring consistent reaction uniformity.
4Ease of manufacture
If a simple structure is used for the capacitive sensor, then manufacturing cost and ease of manufacture are improved, but measurement precision may be compromised
Solution Approach 1:
The patent achieves precise force and torque measurements by carefully controlling the capacitance parameters of the sensing elements. By optimizing the capacitance values, electrode geometries, and spacing, the sensor attains high measurement precision using a relatively simple capacitive structure, avoiding the need for complex mechanical or optical systems.
Solution Approach 2:
The patent replaces complex mechanical measurement mechanisms with a simple capacitive sensing structure. The capacitive elements directly convert force and torque into electrical signals through capacitance changes, providing accurate measurements with a structurally simple design that is easier and less costly to manufacture than traditional sensor systems.
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 capacitive sensor enables efficient and cost-effective measurement of multi-axial forces and torques with improved uniformity and reduced assembly complexity, enhancing product quality and usability in applications such as robotics.
Implementation Method 1
capacitive type 6-axial force/torque sensor for measuring a moment and multi-axial force exerting on a point in space, using variations in capacitance
Implementation Method 2
A dielectric body applied to the first surface of the circuit board on which the electrodes are formed
Data Source
AI summary
A capacitive type sensor includes a circuit board, electrodes formed on a first surface of the circuit board, and an electrode plate disposed above the circuit board, wherein the electrodes comprise pairs of electrodes disposed from a distance from a center of the circuit board, and the pairs of electrodes being spaced apart from each other.