Dual-Handle Robot Arm Operation for Easier Rotational Movement
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Solution Overview
Problem
Existing robot operating apparatuses face difficulties in allowing operators to easily move the distal end part of an arm unit in rotational directions due to the design of single rod-shaped handles, which limits the ease of movement and operational efficiency.
Innovation Solution
A robot operating apparatus with a handle supporting unit that includes at least two force points for gripping, allowing operators to apply forces with both hands, and a force sensor to detect resultant forces, enabling easier movement of the arm unit. Additionally, switches are provided for controlling movement, speed, action modes, and emergency stops, enhancing operational control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a single rod-shaped handle is used for operating the robot, then the structure is simple, but it is difficult for the operator to grip and apply force in rotational directions
Solution Approach 1:
The single rod-shaped handle is segmented into multiple handles (first handle and second handle) arranged in different directions. This allows the operator to grip different handles for different operational directions, including rotational movements, thereby improving ease of operation while maintaining reasonable structural complexity.
Solution Approach 2:
The handle structure transitions from a one-dimensional rod to a multi-dimensional arrangement with handles extending in different directions (X-axis, Y-axis, Z-axis). This dimensional expansion enables the operator to apply forces in multiple directions including rotation, solving the limitation of the single rod-shaped handle.
2Productivity
If a single rod-shaped handle is used, then the device complexity is low, but the operational efficiency is reduced
Solution Approach 1:
The handle system is divided into multiple segmented handles oriented in different directions. This segmentation enables the operator to efficiently perform various operations including translation and rotation by gripping the appropriate handle, thereby improving operational efficiency despite increased structural complexity.
Solution Approach 2:
The multi-handle structure serves multiple functions: it enables operations in X, Y, and Z directions as well as rotational movements. This multi-functionality improves operational efficiency by allowing the operator to perform diverse tasks with a single operating apparatus, justifying the increased device complexity.
3Ease of operation
If multiple handles are provided for multi-directional operation, then ease of movement is improved, but the device complexity increases
Solution Approach 1:
Multiple handles are merged into a single integrated handle supporting unit that can support handles in various directions. This combining approach improves ease of movement by providing multi-directional handles while managing device complexity through unified structural design.
Solution Approach 2:
The handle supporting unit is designed with universal functionality to support multiple handles oriented in different directions (X-axis, Y-axis, Z-axis). This multi-functional design enables easy movement in all directions while maintaining a coherent structural system, balancing ease of operation with device complexity.
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 apparatus allows for precise and efficient movement of the arm unit in intended directions, including rotational movements, and provides enhanced safety features like immediate stop functionality and customizable speed and action modes, improving operational efficiency and safety.
Implementation Method 1
a force sensor 105 mounted on the distal end part of the arm unit 102, and a handle 106 connected to the force sensor 105. When an operator grips the handle 106 and applies a force to the handle 106 in a direction in which the arm unit 102 is moved, the direction, and magnitude of the force are detected by the force sensor 105 as electric signals
Data Source
AI summary
A robot operating apparatus includes a force sensor mounted on the distal end part of an arm unit and a handle supporting unit mounted on the distal end part of the arm unit via the force sensor. The handle supporting unit supports two handles, and a handle structure including the two handles has two force points where forces are applied while being gripped with both hands. The force sensor detects a resultant force of forces acting on the two force points, and transmits the same to a robot control apparatus, so that the distal end part of the arm unit moves in accordance with a direction and a magnitude of the resultant force detected by the force sensor.