Multi-layer Diaphragm Axial Force Sensor for Robot Grippers
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Solution Overview
Problem
Existing force sensors, both contact-based and non-contact-based, face challenges in accurately detecting axial forces while being susceptible to noise from off-axis loads due to structural deformations under bending moments, shear forces, and temperature variations.
Innovation Solution
An axial force sensor assembly featuring a multi-layer connecting member between inner and outer mounting portions, which is more compliant in the axial direction than in other loading directions, allowing for precise detection of relative displacement caused by axial forces while suppressing disturbances from non-axial loads through a two-layer or multi-layer diaphragm structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a multi-layer connecting member structure is used to suppress off-axis loads, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The mounting bracket is segmented into multiple functional layers: a first mounting portion for sensor installation, a second mounting portion for structural support, and a multi-layer connecting member comprising multiple diaphragms connected by connecting rods. This segmentation allows each layer to perform specific functions - the diaphragms suppress bending moments while the connecting rods maintain structural integrity - thereby improving measurement precision without excessive complexity
Solution Approach 2:
The multi-layer connecting member acts as an intermediary structure between the first and second mounting portions. It mediates the transmission of axial forces while filtering out off-axis disturbances through its multi-diaphragm design, which allows axial displacement but resists bending moments, thus improving measurement accuracy
2Measurement precision
If the connecting member is made compliant in axial direction for detection, then measurement precision is improved, but reliability deteriorates due to susceptibility to off-axis loads
Solution Approach 1:
The connecting member exhibits different mechanical properties in different directions: it is compliant in the axial direction to allow detection of relative displacement, while being rigid in off-axis directions through the multi-diaphragm structure that resists bending moments. This anisotropic local quality enables precise axial force detection while filtering out bending moment interference
Solution Approach 2:
The connecting member incorporates multiple thin diaphragm films connected by rigid rods. These flexible diaphragms allow axial deformation for displacement detection while their multi-layer configuration provides resistance to bending moments and off-axis loads, thus enabling reliable axial force measurement despite the compliant structure
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
Effectively detects axial forces while minimizing interference from bending moments, shear forces, and twisting moments, enhancing the accuracy and reliability of force measurements by utilizing a multi-layer connecting member that causes relative displacement only in the axial direction.
Implementation Method 1
The first sensor is assembled on the mounting bracket and configured to detect a relative displacement between the inner mounting portion and the outer mounting portion in the direction of the axial force to be detected
Implementation Method 2
The multi-layer connecting structure is more compliant in a direction of the axial force to be detected than in other loading directions
Data Source
AI summary
An axial force sensor assembly for detecting an axial force is provided, which includes a mounting bracket and a first sensor assembled on the mounting bracket. The mounting bracket includes an inner mounting portion, an outer mounting portion and a multi-layer connecting member connected between the inner mounting portion and the outer mounting portion. The multi-layer connecting structure is more compliant in a direction of the axial force to be detected than in other loading directions. The first sensor is configured to detect a relative displacement between the inner mounting portion and the outer mounting portion in the direction of the axial force to be detected.