Manipulator Force Sensing Handle for Uniform 3D Detection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current methods for determining forces on manipulators, such as industrial robots or cobots, are limited by sensitivity that varies with position and require indirect measurement, leading to uneven sensitivity distribution and high costs due to torque sensors on each axis.
Innovation Solution
A device with two actuating elements, each with a tiltable control element, allows direct force detection in multiple spatial directions using an evaluation unit to calculate forces, providing intuitive operation and ergonomic grip, and optionally includes a dead man's switch and haptic feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If torque sensors are integrated into each axis to directly measure torques, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent combines two actuating elements (first and second actuating elements) into a single integrated device mounted on the manipulator. Instead of using separate torque sensors on each axis, the invention merges the force measurement function into one unified structure that captures forces in multiple spatial directions simultaneously, thereby reducing overall device complexity while maintaining measurement precision.
Solution Approach 2:
The actuating elements are designed to perform multiple functions: they detect forces in at least three spatial directions, provide intuitive user interaction through tilting movements, and enable ergonomic gripping. This multi-functionality eliminates the need for separate sensors for each axis, as the universal actuating elements can capture all necessary force components through their relative movements.
2Device complexity
If motor currents are measured to calculate torques on individual axes, then device complexity is reduced, but measurement precision deteriorates due to indirect measurement and varying leverage effects
Solution Approach 1:
The actuating elements serve as an intermediary mechanism between the user's manual manipulation and the force detection system. By providing a physical interface that translates user gestures into measurable relative movements, the invention creates a direct measurement pathway that eliminates the need for complex current-based calculations and leverage effect compensations, thereby improving measurement precision without significantly increasing device complexity.
3Measurement precision
If multiple torque sensors are installed on each axis for direct torque measurement, then measurement precision is improved, but cost increases
Solution Approach 1:
The invention merges the functionality of multiple torque sensors into a single integrated actuating element system. By combining force detection in multiple spatial directions into one unified structure, the patent reduces the total number of sensors required, thereby lowering manufacturing costs while maintaining high measurement precision through the coordinated movements of the actuating elements.
4Productivity
If force measurement sensitivity is increased for better programming control, then productivity is improved, but sensitivity becomes position-dependent causing uneven distribution across working space
Solution Approach 1:
The invention transitions from axis-specific force measurement to three-dimensional spatial force detection. By measuring forces in multiple spatial directions simultaneously through the relative movements of the actuating elements, the system achieves position-independent sensitivity. This dimensional approach allows uniform force measurement characteristics across the entire working space, enabling fast and intuitive programming without position-dependent sensitivity variations.
Data Source
Figure 1~2
Figure 3~4
Figure 5~6
AI summary
Device (10) for determining a force acting on a body, in particular a manipulator, in at least three spatial directions (Fx, Fy, Fz, Mx, My, Mz) with two actuating elements (20a, 20b), wherein each of the actuating elements (20a, 20b) has a control element (22a, 22b) with a longitudinal axis (L1, L2) which is movable, in particular tiltable, relative to a base element (24a, 24b), wherein a single force (F1, F2) in at least three spatial directions can be determined from the relative movement between the control element (22a, 22b) and the base element (24a, 24b), and wherein the two actuating elements (20a, 20b) are arranged relative to each other such that the two control elements (22a, 22b) are located on opposite sides (25a, 25b) of the base elements (24a, 24b) are arranged, - and an evaluation/control unit (30) which records the individual force (F1, F2) determined by each actuating element (20a, 20b) and which is designed to,to calculate the force acting on the body in at least three spatial directions (Fx, Fy, Fz, Mx, My, Mz) from the two individual forces (F1, F2), in particular from the sum of the individual forces.