Force-Sensing Robot Hand Alignment Without Moving Units
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Solution Overview
Problem
Conventional robot structures with large-scale moving units are complex, limiting weight capacity and movable range, thereby reducing their generality.
Innovation Solution
A robot system equipped with a robot hand featuring a force sensor that detects position and posture information on an object, allowing for simplified structure and improved generality by accurately aligning the robot arm with the object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a large-scale moving unit is provided between the robot arm and the gripping portion to enable alignment, then the alignment precision is improved, but the device complexity increases and the weight capacity is limited
Solution Approach 1:
The patent replaces the mechanical moving unit with a force sensor-based detection system. Instead of using a complex mechanical structure to achieve alignment, the invention uses a force sensor to detect position and posture information, then uses control algorithms to calculate correction amounts. This substitutes a mechanical alignment system with a sensor-based detection and control system, reducing device complexity while maintaining alignment precision.
Solution Approach 2:
The force sensor acts as an intermediary between the robot hand and the object. Rather than directly mechanically aligning the gripping portion with the object through a moving unit, the force sensor mediates by detecting contact forces and providing information to the control unit, which then calculates alignment corrections. This intermediary approach simplifies the mechanical structure while achieving the same alignment function.
2Measurement precision
If a large-scale moving unit is provided between the robot arm and the gripping portion, then the alignment function is achieved, but the weight capacity of the gripping portion is limited
Solution Approach 1:
The force sensor-based detection system replaces the heavy mechanical moving unit. The force sensor has minimal weight compared to a large-scale moving unit, allowing the gripping portion to maintain high weight capacity. The alignment function is achieved through lightweight sensing and computational correction rather than heavy mechanical adjustment mechanisms.
3Measurement precision
If a large-scale moving unit is provided between the robot arm and the gripping portion, then the alignment function is achieved, but the movable range of the robot arm is limited
Solution Approach 1:
Replacing the mechanical moving unit with a force sensor and control system removes the physical constraints that limited the robot arm's movable range. The force sensor can detect alignment information regardless of the robot arm's position within its workspace, and the control unit can calculate corrections without being constrained by mechanical linkage lengths. This enables the robot arm to operate across its full movable range while maintaining alignment precision.
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 system simplifies the robot structure, increases weight capacity, and expands the movable range by accurately detecting and correcting misalignments without the need for additional components like cameras, enhancing overall generality.
Implementation Method 1
the robot hand includes a force sensor, and the control unit controls the operation of the robot arm such that the force sensor detects position information and posture information on the object by pressing a part of the robot hand against the object
Data Source
AI summary
A robot includes: a robot hand attached to a distal end portion of a robot arm; and a control unit configured to control each operation of the robot arm and the robot hand to perform a work on an object. The robot hand includes a force sensor, and the control unit controls the operation of the robot arm such that the force sensor detects position information and posture information on the object by pressing a part of the robot hand against the object.