Modular Knuckle Sensors for Robotic Manipulator Grasping
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Solution Overview
Problem
Current robotic manipulators lack advanced sensing capabilities, particularly in grasping and object perception, which limits their efficiency in repetitive tasks and adaptability to human environments, necessitating the integration of sensors for improved functionality.
Innovation Solution
A manipulator design featuring modular knuckle components with integrated tactile and angle sensors, allowing for enhanced sensing and flexibility, enabling improved object perception and grasping capabilities while simplifying manufacturing and inventory management.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensors are added to the manipulator to improve sensing capability, then the sensing ability is improved, but the device complexity increases
Solution Approach 1:
The patent combines multiple sensors (tactile sensors and angle sensors) into integrated sensor assemblies mounted on the manipulator's finger assemblies. This merging approach improves sensing capability while managing complexity through systematic integration rather than scattered sensor placement
Solution Approach 2:
The manipulator design incorporates multi-functional sensor assemblies that perform multiple sensing functions simultaneously - tactile sensing for contact detection and angle sensing for position detection. This multi-functionality improves overall sensing ability without proportionally increasing device complexity
2Ease of manufacture
If modular knuckle components with integrated sensors are used, then manufacturing and inventory management are simplified, but the initial device complexity increases
Solution Approach 1:
The manipulator is divided into modular knuckle components that can be independently manufactured and assembled. Each module contains integrated sensors and mechanical elements, allowing standardized production and simplifying inventory management while the modular structure itself introduces some structural complexity
Solution Approach 2:
The design nests multiple functional elements within compact modular units - sensors are integrated within the knuckle components rather than being externally mounted. This nesting approach manages structural complexity by consolidating elements while maintaining manufacturability benefits
Data Source
AI summary
A manipulator comprises a connecting assembly; a plurality of finger assemblies, one end of each finger assembly connects to the connecting assembly, the other end is away from the connecting assembly to form a free end; each finger assembly includes a plurality of knuckle components which are successively connected, each knuckle component includes a base module, a tactile sensor and an angle sensor, the base modules are interconnected for implementing finger configuration, the tactile sensor is installed on the base module for sensing a target object, the angle sensor is installed on the base module for acquiring information of angle changing. The manipulator is provided with the tactile sensor and the angle sensor on the base module of each knuckle component, which is beneficial to improve the sensing ability of the manipulator. The manipulator is composed of modular knuckle components, each of the single knuckle components has high level of integration.