Optically Marked Suction Pad for Precise Deformation Sensing
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Solution Overview
Problem
Existing suction pads in robotic hands fail to precisely detect deformation, which hinders accurate determination of contact with objects and control of robotic movements due to the lack of deformation measurement capabilities.
Innovation Solution
A suction pad with a deformable section featuring optically identifiable marks that displace with deformation, allowing for precise measurement of loading force and tilting, and a deformation measuring device that captures images of these marks to determine deformation and contact status.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a suction pad uses a simple structure without deformation measurement, then the device complexity is reduced, but the measurement precision of deformation is insufficient
Solution Approach 1:
The patent applies optical identification marks (lattice patterns or discrete markers) on the deformable section of the suction pad. These marks change position or configuration when the suction pad deforms, allowing optical sensors to detect deformation by tracking mark displacement. This approach enables precise deformation measurement without complex internal sensors within the suction pad structure itself.
Solution Approach 2:
The patent introduces an external imaging device as an intermediary between the suction pad and the measurement system. The imaging device captures images of the optical marks on the suction pad, and image processing algorithms calculate deformation based on mark displacement. This intermediary approach allows deformation measurement without embedding complex measurement devices within the suction pad, thus maintaining structural simplicity while achieving high measurement precision.
2Reliability
If a suction pad includes deformation measurement capability, then the reliability of contact detection is improved, but the device complexity increases
Solution Approach 1:
The patent implements a feedback system where the imaging device continuously monitors the position of optical marks on the suction pad. The deformation information derived from mark displacement is fed back to the control system, which uses this information to determine contact status and adjust robotic hand movements. This feedback mechanism reliably detects contact between the suction pad and objects, enabling precise control while keeping the added complexity manageable through software-based processing.
3Measurement precision
If a suction pad uses discrete markers for deformation measurement, then the measurement precision is improved, but the manufacturing precision requirements increase
Solution Approach 1:
The patent provides flexibility in marker configuration, allowing either lattice patterns or discrete markers to be used. The system can accommodate variations in marker positioning by using image processing algorithms that identify and track marker positions relative to each other. This approach reduces the stringency of manufacturing precision requirements while maintaining high deformation measurement precision through computational methods.
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
Enables precise detection of suction pad contact with objects and accurate control of robotic movements by measuring deformations, improving the precision and reliability of robotic operations.
Implementation Method 1
a deformable section deformable under the negative pressure
Implementation Method 2
The plurality of marks are optically identifiable
Data Source
Figure 1A~1D
Figure 2A~2B
Figure 3A~3D
AI summary
A suction pad (112) sucks an object (61) under a negative pressure, and includes a stationary section (117) fixable on a support (126), and a deformable section (118) deformable under the negative pressure. The deformable section (118) includes a plurality of marks at a plurality of positions spaced from one another and displaceable with respect to the stationary section (117) in response to deformation of the deformable section (118). The plurality of marks are optically identifiable. The plurality of marks are continuous across the plurality of positions or are separate at the plurality of positions.