Robot End Effector Finger Strain Sensing for Precise Grip Load Monitoring
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Solution Overview
Problem
Existing robotic end effectors lack direct and precise monitoring of load conditions, relying on indirect methods such as position or torque monitoring, which can lead to inefficiencies and potential maintenance issues.
Innovation Solution
The implementation of strain elements on the fingers of the end effector, combined with electrical circuitry for signal amplification and conversion, allows for direct measurement of planar and moment loads, providing real-time feedback to the robotic arm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If indirect monitoring methods (position or torque) are used to determine load conditions, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent replaces indirect mechanical monitoring methods (position or torque monitoring) with direct strain measurement using strain elements. This substitution enables precise load condition monitoring by measuring actual strain on the fingers, while the strain elements can be integrated into the existing finger structure without requiring completely new mechanical systems.
Solution Approach 2:
The patent changes the measurement parameter from indirect position/torque parameters to direct strain parameters. By mounting strain elements on the fingers, the system directly measures strain (a fundamental mechanical parameter) rather than inferring load conditions from position or torque data, thereby improving measurement precision.
2Measurement precision
If strain elements are mounted on finger surfaces for direct load measurement, then measurement precision improves, but device complexity increases
Solution Approach 1:
The patent merges the strain measurement function with the existing finger structure by mounting strain elements on the finger surfaces. This integration combines the gripping function and the measurement function into a unified structure, reducing overall system complexity compared to having separate measurement systems.
Solution Approach 2:
The fingers serve multiple functions: they perform the gripping operation and simultaneously act as the mounting structure for strain measurement. This multi-functionality eliminates the need for separate measurement apparatus, thereby reducing device complexity while maintaining high measurement precision.
3Measurement precision
If multiple strain elements are used to measure different load components (planar and moment loads), then measurement precision improves, but device complexity increases
Solution Approach 1:
The patent segments the load measurement into distinct components by placing different strain elements at different locations and orientations on the fingers. One strain element measures planar load while another measures moment load, allowing precise measurement of different load components through systematic segmentation of the measurement function.
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
Enables precise monitoring of grip conditions, ensuring proper workpiece handling and timely maintenance, enhancing operational efficiency and reliability of robotic tasks.
Implementation Method 1
At least one strain element is attached to a surface of at least one of the fingers... Electrical circuitry is operative to provide power to the at least one strain element and receive strain signals detected by the at least one strain element
Data Source
AI summary
A robot end effector for gripping a workpiece, the robot end effector comprising a base portion and at least two fingers connected to the base portion, the fingers having opposed front sides. At least one of the fingers is movable toward and away from the other such that the workpiece can be gripped and released. At least one strain element is attached to a surface of at least one of the fingers, e.g., the active finger. Electrical circuitry is operative to provide power to the at least one strain element and receive strain signals detected by the at least one strain element. In some embodiments, one or more of the fingers is bifurcated, with one or more strain elements located on each of the bifurcated portions.