End Effector Installation Detection Using Test-Move Force Feedback
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Solution Overview
Problem
Improperly installed or incorrectly installed tools in robotic manipulation systems can lead to incorrect manipulation, damage to objects, or delay procedures, particularly in hazardous or minimally invasive environments.
Innovation Solution
A manipulation system with a processor configured to provide command signals for a test move of an end effector, using transducer feedback to determine the installation status, ensuring proper installation before allowing operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual installation verification is used, then installation speed is fast, but installation accuracy and reliability are poor
Solution Approach 1:
The system performs self-verification of end effector installation by automatically collecting effort data during test moves and analyzing it to determine installation status, eliminating the need for manual verification and thereby improving both reliability and time efficiency
Solution Approach 2:
The system uses transducers to collect effort information during test moves and provides feedback to the control logic, which analyzes the data to determine installation status. This closed-loop feedback mechanism ensures accurate verification while automating the process to reduce time loss
2Measurement precision
If automated test moves are performed, then installation detection accuracy is improved, but system complexity increases
Solution Approach 1:
The system replaces manual mechanical verification with automated electronic control and data analysis. The control logic automatically performs test moves, collects effort data via transducers, and analyzes the information to determine installation status, thereby improving precision while managing complexity through software-based solutions
3Measurement precision
If comprehensive test moves are performed, then installation detection accuracy is improved, but procedure time increases
Solution Approach 1:
The system performs test moves that may exceed the minimum necessary motion range to ensure comprehensive detection of installation status. By collecting effort data throughout the full test move sequence, the system achieves high detection accuracy while the automated nature of the process maintains procedural efficiency
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
Ensures correct installation of end effectors, preventing operational issues and potential damage, enhancing system reliability and procedure efficiency.
Implementation Method 1
a transducer configured to provide effort information of the end effector as the end effector moves
Data Source
AI summary
Techniques are described for testing whether an end effector, or component thereof, is correctly or incorrectly installed to a manipulation system. In an example, a manipulation system can include a manipulator arm configured to receive an end effector having a first moveable jaw, a transducer configured to provide first effort information of the end effector as the end effector moves, and a processor configured to provide a command signal to effect a first test move of the first moveable jaw, and to provide an installation status of the of the end effector using the first effort information of the first test move.