Robotic Gripper Linkage Force Sensing Without Finger Compliance Loss
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Solution Overview
Problem
Existing robotic manipulator gripper assemblies face challenges with sensor integration, including sub-optimal performance due to compliance and friction issues, incomplete force detection, complex electrical connections, and interference with sensor accuracy, which complicates the construction and maintenance of finger elements.
Innovation Solution
The solution involves a gripper assembly with a finger element, an actuator, and a linkage assembly connected by a sensor assembly that measures force components applied to the arms, allowing for the determination of the magnitude and direction of the force applied to the finger element, without affecting the finger element itself, enabling seamless modification and exchange.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensors are integrated directly into finger elements, then force detection capability is improved, but finger element performance (compliance, friction, flexibility) deteriorates
Solution Approach 1:
The system segments the measurement function from the finger element structure. Sensors are placed in separate linkage assembly components rather than being integrated into the finger element itself, allowing the finger element to maintain its optimal mechanical properties while force detection is performed by the segmented sensor components in the linkage assembly.
Solution Approach 2:
The linkage assembly acts as an intermediary between the finger element and the sensors. Force applied to the finger element is transmitted through the linkage assembly to the sensors, which measure the force components. This intermediary structure allows accurate force measurement without compromising the finger element's compliance, friction characteristics, or flexibility.
2Measurement precision
If sensors are integrated into finger elements, then force detection is enabled, but electrical connection complexity increases
Solution Approach 1:
The sensors are extracted from the finger element and relocated to the linkage assembly. This extraction eliminates the need for complex electrical connections running through or along the robotic manipulator to the finger elements. The sensors remain in the linkage assembly where they can be more easily connected and maintained.
Solution Approach 2:
The linkage assembly structure itself serves as the mounting platform for the sensors, eliminating the need for separate electrical connection infrastructure. The sensors are supported by and integrated into the existing mechanical structure of the linkage assembly, simplifying the overall system architecture.
3Ease of manufacture
If additional high-friction, high-compliance layers are added to finger elements for sensor integration, then sensor mounting is enabled, but force measurement accuracy deteriorates
Solution Approach 1:
Instead of adding compliant layers to the finger element to mount sensors, the approach is inverted: sensors are mounted on the rigid linkage assembly structure. This eliminates the need for additional high-friction, high-compliance layers that would interfere with force measurement accuracy, while still enabling sensor integration in the force transmission path.
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
This approach allows for comprehensive force measurement and accurate calculation of the applied force, improving the performance and maintainability of the gripper assembly by instrumenting the linkage arms with load cells, ensuring all interaction forces are detected and the finger element remains unaffected.
Implementation Method 1
a sensor assembly configured to output signals indicative of force components applied to the plurality of arms as a result of a force being applied to the finger element
Data Source
AI summary
This disclosure concerns ascertaining a force applied to a finger element of a gripper assembly of a robotic manipulator during the manipulation of an object. In one aspect, it discloses a gripper assembly including a finger element, an actuator, a linkage assembly including a plurality of arms connecting the finger element to the actuator, and a sensor assembly configured to output signals indicative of force components applied to the plurality of arms as a result of a force being applied to the finger element.