Optical Force Sensor for Robot Arms
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
The existing robot arm systems face challenges in accurately gripping objects due to the bulkiness and increased mass caused by mounting force sensors, which hinder their precision and efficiency.
Innovation Solution
A sensor device with a smaller and simpler mechanism is proposed, featuring a force acting portion exposed through an opening with a flexible body, surrounded by mirrors and a light source unit, allowing for force sense detection through the displacement of light points, enabling simultaneous imaging and force sense calculation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a force sensor is mounted on the robot arm to detect force sense, then the gripping accuracy is improved, but the system size and mass increase
Solution Approach 1:
The patent replaces the traditional mechanical force sensor with an optical measurement system. A light source emits light that reflects off a mirror attached to the force acting portion, and an imaging sensor captures the position of the reflected light. This optical system substitutes the mechanical sensing mechanism, achieving force detection without the mass and complexity of conventional force sensors.
Solution Approach 2:
The patent creates an optical copy or representation of the force state through light reflection. Instead of directly measuring force with a sensor, the system captures the positional information of reflected light, which corresponds to the force applied. This indirect measurement through optical copying enables force detection while maintaining system轻量化.
2Measurement precision
If a force sensor is mounted on the robot arm to detect force sense, then the gripping accuracy is improved, but the device complexity increases
Solution Approach 1:
The patent replaces the complex mechanical force sensor assembly with a simpler optical system consisting of a light source, a reflective surface, and an imaging sensor. This substitution eliminates the need for complex mechanical linkages, strain gauges, or piezoelectric elements, thereby reducing device complexity while maintaining measurement precision.
Solution Approach 2:
The imaging sensor serves multiple functions: it captures the position of reflected light for force detection and can potentially capture visual information about the object being gripped. This multi-functionality reduces the need for separate sensors, thereby simplifying the overall device architecture.
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
This solution allows for precise force sense detection and imaging without the need for bulky force sensors, enhancing the robot arm's accuracy and reducing its overall size and mass.
Implementation Method 1
a reflection space of which at least two surfaces are surrounded by a first mirror provided on an inner bottom surface of the exterior portion and a second mirror provided on a surface of the force acting portion or flexible body, the surface facing the first mirror; and a light source unit configured to emit light to the reflection space; and an imaging unit provided on the inner bottom surface of the exterior portion and configured to capture an image including a force sense detection region in which reflection light of the light emitted from the light source unit is seen
Data Source
AI summary
There is provided a sensor device to detect a force sense with a smaller and simpler mechanism. The sensor device includes: a force acting portion exposed from an opening provided on an exterior portion and attached to an inside of the exterior portion via a flexible body; a reflection space of which at least two surfaces are surrounded by a first mirror provided on an inner bottom surface of the exterior portion and a second mirror provided on a surface of the force acting portion or flexible body, the surface facing the first mirror; and a light source unit configured to emit light to the reflection space; and an imaging unit provided on the inner bottom surface of the exterior portion and configured to capture an image including a force sense detection region in which reflection light of the light emitted from the light source unit is seen.