Robotic Gripper Force Detection via Elastic Deformation Encoding
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Solution Overview
Problem
Current robotic grippers lack adequate hand-eye coordination and compliance to effectively grasp and manipulate objects with varying shapes and sizes, relying on force sensors and load current detection which are limited in flexibility and accuracy.
Innovation Solution
A gripper apparatus with a mechanism comprising connecting rods, an elastic part, an encoder, and a controller that allows deformation measurement and mode switching based on force information, enabling adaptive grasping and compliance control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force sensors or tactile sensors are disposed at knuckles or finger tips to detect engagement force, then the gripper can feedback force information for grasping control, but the device complexity increases due to multiple sensors at different positions
Solution Approach 1:
The patent extracts the force detection function from multiple distributed sensors and concentrates it into a single force sensor connected to the encoder. The elastic part serves as a mechanical transmission element that transfers the combined force information from all gripper contacts to this single sensor, thereby simplifying the sensor arrangement while maintaining detection precision.
Solution Approach 2:
The encoder is given multiple functions: it not only encodes the position of the connecting rod but also detects force information through its connection to the force sensor and elastic part. This multi-functionality reduces the need for separate dedicated force sensors at each gripper contact point.
2Reliability
If multiple force sensors are arranged at different positions to ensure engagement detection, then the grasping reliability improves, but the manufacturing cost and device complexity increase
Solution Approach 1:
The patent extracts the force detection capability from multiple sensors and consolidates it into a single force sensor. The elastic part acts as a mechanical integrator that combines force information from all gripper contacts, allowing one sensor to provide reliable grasping detection without needing multiple sensors distributed throughout the gripper.
Solution Approach 2:
The elastic part serves as an intermediary mechanical element between the gripper structure and the force sensor. It transmits and integrates force information from multiple contact points to the single force sensor, enabling reliable force detection without requiring multiple sensors at each contact point.
3Ease of manufacture
If conventional rigid gripper structures are used, then the manufacturing precision is easier to achieve, but the adaptability to objects with varying shapes and sizes decreases
Solution Approach 1:
The patent introduces dynamics into the gripper structure by incorporating an elastic part that allows the connecting rod to deform flexibly. This dynamic element enables the gripper to adapt its shape to objects of varying forms while maintaining precise control through the encoder's detection of the rod's angular position and deformation state.
Solution Approach 2:
The patent changes the structural parameter of the connecting rod from rigid to flexible by incorporating the elastic part. This parameter change allows the gripper structure to adapt its geometry to match different object shapes while the encoder continuously monitors the structural state for precise control.
4Extent of automation
If traditional robotic control systems are used, then the automation level is sufficient for routine tasks, but the hand-eye coordination ability for complex manipulation is inadequate
Solution Approach 1:
The patent implements enhanced feedback by connecting the force sensor and encoder to the control system. The encoder provides real-time feedback on the angular position and deformation of the connecting rod, enabling the control system to adjust gripper movements dynamically for improved hand-eye coordination during complex manipulation tasks.
Solution Approach 2:
The patent replaces traditional mechanical force sensing mechanisms with an encoder-based detection system. The encoder converts mechanical position and deformation information into electrical signals for digital processing, enhancing the control system's ability to coordinate hand movements with visual feedback for complex tasks.
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 solution enhances the gripper's ability to adapt to external forces and object shapes, improving grasping precision and reliability without the need for additional force meters, offering superior cost, reaction speed, and reliability compared to conventional robots.
Implementation Method 1
the elastic part is disposed at the joint of the first and the second connecting rods to be used for enabling the first connecting rod to couple elastically to the second connecting rod
Implementation Method 2
the elastic part is connected electrically to the encoder that is further to be electrically connected to the controller, and the driver is connected to the fourth end so as to be used for driving the second connecting rod and the first connecting rod to swing in synchronization
Data Source
AI summary
A gripper apparatus and its control method are provided. The gripper apparatus includes at least one gripper unit, and each gripper unit is configured with a first connecting rod and a second connecting rod. In addition, there is an elastic part disposed at the joint of the first and the second connecting rods, an encoder and a controller. Thereby, the controller is enabled to control the gripper apparatus to move toward an object in a first mode so as to enable the gripper unit to engage the object and thus exert a force upon the object. Consequently, the elastic part is deformed and the deformation of the elastic part is measured and encoded by the encoder into a force information to be transmitted to the controller for enabling the controller to switch the control of the gripper apparatus into a second mode according to the force information.