Dual Actuating Elements for 6D Manipulator Force Sensing
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Solution Overview
Problem
Current methods for determining forces on manipulators, such as industrial robots, are limited by sensitivity that varies with position and require indirect measurement, leading to non-homogeneous sensitivity distribution and high costs due to the need for torque sensors on each axle.
Innovation Solution
A device with two actuating elements, each with a movable operating element relative to a base, allowing force determination in three spatial directions, and an evaluation unit to calculate forces in six directions, enabling intuitive operation and accurate force measurement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If torque sensors are installed on each axle to measure forces directly, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The device segments the force measurement function into two separate actuating elements, each with its own operating element and base element. This segmentation allows the system to achieve comprehensive 6D force measurement through the combination of two simpler measurement units, avoiding the need for complex torque sensors on each axle while maintaining measurement precision.
Solution Approach 2:
Each actuating element is designed as a multi-functional unit that can determine forces in multiple spatial directions (at least three directions per element). This universal design allows a single actuating element to perform what would traditionally require multiple specialized sensors, thereby reducing overall device complexity while maintaining comprehensive measurement capability.
2Device complexity
If indirect force measurement through motor currents is used, then device complexity is reduced, but measurement precision deteriorates due to non-homogeneous sensitivity distribution
Solution Approach 1:
The actuating elements serve as intermediary devices between the user and the body, providing direct mechanical coupling for force application. This intermediary mechanism enables direct force measurement through the relative movement between operating element and base element, eliminating the need for indirect measurement through motor currents and the associated leverage effects that cause non-homogeneous sensitivity.
3Device complexity
If operating elements are arranged on the same side of the base element, then device compactness is improved, but ease of operation deteriorates
Solution Approach 1:
The two operating elements are positioned asymmetrically on opposite sides of their respective base elements. This asymmetric arrangement optimizes ergonomics by allowing natural hand positioning during operation, with each operating element accessible from its respective side, thereby improving ease of operation while maintaining reasonable device compactness through the facing-away configuration.
Data Source
AI summary
A device for determining, in at least three spatial directions, a force acting on a body, in particular a manipulator, has two actuating elements. Each of the actuating elements has an operating element with a longitudinal axis which is movable, in particular tiltable, relative to a base element. An individual force is able to be determined, in at least three spatial directions, from the relative movement between the operating element and the base element. The two actuating elements are arranged relative to one another in such a way that the two operating elements are arranged on sides of the base elements facing away from one another. An evaluation/control unit records the individual force determined by each actuating element, and calculates, in at least three spatial directions, the force acting on the body from the two individual forces, in particular, from the sum of the individual forces.