Load Cell End Effector for UAV Contact Force Detection

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Solution Overview

Problem

Manual handling of aerial vehicles is prone to damage and inefficiency due to the difficulty in precise handling, which can lead to structural integrity issues and recalibration needs, especially with components like pitot tubes and wings.

Innovation Solution

An automated ground handling system using an end-of-arm tool equipped with a load cell that measures forces and torques exerted on the aerial vehicle, allowing for precise engagement and manipulation without traditional contact sensors, ensuring safe handling and diagnostic capabilities.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If traditional contact sensors are used on the end effector, then contact detection is possible, but the sensors are sensitive to dirt, dust, moisture, temperature, grease, water, and vibrations

Engineering Contradiction:

Improvecontact detection accuracyVSAvoidsensor reliability in harsh environments

Core Design Contradiction:

Measurement precisionVSReliability

Solution Approach 1:

The patent replaces traditional contact sensors with a load cell that measures forces and torques exerted on the end effector. This mechanical measurement approach substitutes the electronic sensor system, eliminating sensitivity to environmental factors like dirt, dust, moisture, and vibrations while maintaining accurate contact detection capability

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The load cell acts as an intermediary between the end effector and the control system. Instead of directly sensing contact through traditional sensors that are vulnerable to environmental conditions, the load cell indirectly measures contact forces and torques, providing a reliable measurement mechanism that is immune to harsh environment effects

Inventive Principle:

Principle #24Intermediary (Mediator)

2Ease of operation

If manual handling of aerial vehicles is performed, then flexibility is maintained, but damage to components such as pitot tubes, wings, and connectors can occur

Engineering Contradiction:

Improvehandling flexibilityVSAvoiddamage to aerial vehicle components

Core Design Contradiction:

Ease of operationVSObject-affected harmful factors

Solution Approach 1:

The load cell provides real-time feedback on forces and torques exerted on the aerial vehicle during handling operations. This feedback enables the operator or control system to monitor contact forces and adjust handling actions to remain within safe limits, preventing damage to sensitive components while maintaining handling flexibility

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system establishes predetermined safe force and torque limits for handling the aerial vehicle before operations begin. By having these limits predefined and using the load cell to enforce them during handling, the system prevents excessive forces that could damage components while allowing full operational flexibility within safe parameters

Inventive Principle:

Principle #10Preliminary action

3Measurement precision

If traditional contact sensors are used, then contact information can be obtained, but visual and audio feedback are required to register the instant of contact

Engineering Contradiction:

Improvecontact instant detectionVSAvoidsensor system complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The load cell directly measures mechanical forces and torques at the moment of contact, providing immediate detection without requiring external visual or audio feedback systems. This mechanical measurement approach simplifies the overall system by eliminating the need for additional sensors and processing systems while maintaining precise contact instant detection

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

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 enables precise and safe handling of aerial vehicles by measuring forces and torques, reducing the risk of damage and recalibration needs, while eliminating the limitations of traditional contact sensors, such as sensitivity to environmental factors.

Implementation Method 1

a load cell coupled to an end effector, such that forces and torques exerted on the end effector are translated onto the load cell

Methodology Applied

Scientific EffectLoad cell measurement: Piezoelectric Effect

Data Source

PatentUS11597092B1End-of-arm tool with a load cell

Publication Date: 2023.03.07 AMAZON TECH INC

AI summary

Systems and methods relating to an end-of-arm-tool that can be used in connection with the automated handling of vehicles, such as unmanned aerial vehicles (UAV), are disclosed. The described systems and methods can include an end-of-arm-tool which may include a load cell coupled to an end effector, such that forces and torques exerted on the end effector are translated onto the load cell. The measurement of forces and torques exerted on the end effector can facilitate determining various information in connection with the aerial vehicle, such as inertial properties or parameters associated with the aerial vehicle, the quality of the engagement between the end effector and the aerial vehicle, as well as diagnostic information in connection with the aerial vehicle. Additionally, the use of a load cell to measure forces and torques exerted on the end effector can eliminate the need to utilize traditional contact sensors typically required on the contact surfaces of an end-of-arm tool.