Gripper Slip Detection With Force Feedback Control
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Solution Overview
Problem
Existing gripper systems fail to timely detect slippage of objects, leading to potential loss or improper placement during transport, as they lack effective mechanisms to assess and adjust grasping force in real-time.
Innovation Solution
A method and gripper design that includes proximity sensors, grasping force sensors, and center of pressure sensors to monitor the object's position and force distribution, allowing for continuous adjustment of grasping force to maintain stable object hold by computing a reference position and detecting displacements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional gripper systems without real-time force monitoring are used, then the device complexity is reduced, but the reliability of grasping is worsened due to inability to detect slippage timely
Solution Approach 1:
The patent implements a closed-loop feedback system where force sensors continuously measure the grasping force, and the control unit compares the measured force with a reference value. When slippage is detected (force deviation exceeds threshold), the system automatically adjusts the gripper force or triggers an alarm, ensuring reliable grasping through real-time monitoring and correction
Solution Approach 2:
The force sensors serve multiple functions: they monitor grasping force magnitude, detect slippage events, and provide feedback for automatic force adjustment. This multi-functionality improves grasping reliability without proportionally increasing system complexity, as a single sensor type performs multiple detection tasks
2Reliability
If real-time force measurement and adjustment systems are implemented, then the reliability of object hold is improved, but the device complexity increases due to additional sensors and control mechanisms
Solution Approach 1:
The control unit receives real-time force data from sensors, compares it with predetermined reference values, and automatically adjusts the gripper actuation when deviations indicate slippage. This feedback mechanism enables reliable slippage detection and response without requiring complex manual monitoring systems
Solution Approach 2:
The system performs self-monitoring and self-adjustment of grasping force. The control unit automatically detects slippage conditions through force sensor feedback and adjusts the gripper force accordingly, eliminating the need for external intervention or complex manual control systems
3Measurement precision
If multiple sensors are added to monitor position and force, then the measurement precision is improved, but the device complexity increases
Solution Approach 1:
The force sensors are designed to perform multiple measurement functions: they detect both the magnitude of grasping force and, through their spatial arrangement, provide information about object position and orientation. This multi-functionality achieves precise multi-parameter monitoring without requiring separate dedicated sensors for each measurement
Data Source
AI summary
A method for controlling grasping of an object by a gripper provides for computing a reference position of a grasped object with respect to a reference system integral with the gripper, and monitoring a position of the grasped object. If a displacement of the grasped object with respect to the reference position is detected, the method provides for commanding the gripper to increase grasping force.