Manipulator Layout Isolating Tool Reaction From the Force Sensor
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Solution Overview
Problem
Existing manipulators that use mechanical six-axis floating units for gripping workpieces face increased complexity in control due to the need for constant adjustment of force applied to the units, which is further complicated by reaction forces from attached removal devices, leading to reduced withstand load and difficulty in position control.
Innovation Solution
A manipulator design that includes a force sensor on the arm, a gripping part that grips the workpiece via the force sensor, and a tool part that processes the workpiece, with the tool part being provided via a member different from the force sensor, allowing for detection of force or moment applied to the gripping part while reducing the impact of reaction forces on the force sensor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a mechanical six-axis floating unit is used for gripping the workpiece, then position control capability is improved, but the number of units and weight increase, and control complexity increases
Solution Approach 1:
The patent extracts the force/moment detection function from the mechanical six-axis floating unit and implements it separately using a force sensor. This separates the positioning function (handled by the arm) from the force detection function, reducing the complexity of the mechanical unit while maintaining position control capability through the force sensor feedback.
Solution Approach 2:
The patent replaces part of the mechanical six-axis floating unit with a force sensor that provides electronic detection of forces and moments. This substitution reduces mechanical complexity while maintaining the necessary control capabilities through sensor feedback.
2Device complexity
If a force sensor is provided to the gripping member to detect force or moment, then position control is simplified, but the force sensor receives reaction force from the removal device, reducing its withstand load
Solution Approach 1:
The patent segments the tool configuration into two separate paths: the gripping part is connected to the arm via the force sensor, while the removal device (tool part) is connected to the arm via a different member that does not pass through the force sensor. This segmentation prevents reaction forces from the removal device from being transmitted to the force sensor, protecting it from excessive loads while maintaining simplified control.
3Device complexity
If the tool part is provided via the same member as the force sensor, then structural simplicity is improved, but reaction force from the tool part reduces the withstand load of the force sensor
Solution Approach 1:
The patent divides the tool mounting structure into separate pathways: one for the gripping part that goes through the force sensor, and another for the tool part that uses a different member. This segmentation maintains structural simplicity while preventing harmful reaction forces from being transmitted to the force sensor.
Solution Approach 2:
The patent introduces a separate member as an intermediary between the arm and the tool part. This intermediary member transmits the tool part's reactions directly to the arm without passing through the force sensor, thereby protecting the force sensor from excessive loads while maintaining structural efficiency.
Data Source
AI summary
Provided is a manipulator in which reaction force caused in accordance with use of a tool part hardly reaches a force sensor. A manipulator includes: an arm (4); a force sensor (28) that is provided to the arm; a gripping part (34) that is provided to the arm via the force sensor and grips a workpiece; and a tool part (36) that is provided to the arm via a member different from the force sensor and carries out processing with respect to the workpiece which is gripped by the gripping part.