Force Sensor Module for Robot Hands
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot hands can easily hold small workpieces but cannot detect the holding force effectively, leading to potential damage and requiring large, costly force sensors that are prone to damage due to moments generated during operation.
Innovation Solution
A force sensor module is positioned between the claw part and the drive section, comprising a force sensor, first connection part, and second connection part, allowing it to be attached near the claw and adaptable to various claw parts, reducing moment loads on the sensor and enabling accurate force detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a force sensor is equipped at the tip portion of the claw to detect holding force, then the holding force can be detected, but the size of the claw is dependent on the size of the force sensor, resulting in difficulty in freely changing the size of the claw and making the claw thin
Solution Approach 1:
The force sensor is divided into two separate connection parts: a first connection part that connects to the drive section and a second connection part that connects to the claw part. This segmentation allows the force sensor to be positioned away from the claw tip while still measuring holding force, thereby maintaining small claw dimensions while achieving force detection capability.
2Ease of operation
If the force sensor is positioned at a distance from the object to be held, then moments corresponding to the distance are generated during operation, but this may damage the force sensor
Solution Approach 1:
Connection parts serve as intermediaries between the force sensor and both the drive section and the claw part. These connection parts transmit forces while allowing the force sensor to be positioned optimally away from the claw tip, reducing moment loads on the sensor while maintaining operational flexibility.
3Reliability
If a large force sensor is prepared in consideration of the moments, then the force sensor can withstand the moments, but this increases the costs and the weight of the force sensor
Solution Approach 1:
By segmenting the force sensor into separate connection parts and positioning it away from the claw tip, the moment arm is reduced. This allows the use of a smaller, lighter force sensor that is sufficient for the reduced moment loads, thereby decreasing both cost and weight while maintaining durability.
Data Source
AI summary
Provided is a force sensor module which is configured to be disposed between a claw part of a robot hand and a drive section configured to drive the claw part and which includes: a force sensor; a first connection part configured to directly or indirectly connect the force sensor and the drive section; and a second connection part configured to directly or indirectly connect the force sensor and the claw part, the first connection part being connected with a fixing part of the force sensor, the second connection part being connected with a force receiver of the force sensor.