Parallel Robot Force Feedback for Real-Time Displacement Control
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional parallel robots are limited in application range due to position control methods, restricting their use to moving objects between different positions.
Innovation Solution
A parallel robot equipped with force/torque sensors and a control device that adjusts driving device power based on sensed force and torque, allowing for real-time control of force and displacement, expanding its application to tasks like polishing and massage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If position control method is used, then the parallel robot can move objects between different positions, but the application range is limited
Solution Approach 1:
The control device is designed to perform multiple functions: it not only controls position movement but also regulates force and displacement through the force/torque sensor feedback mechanism. This multi-functional control system enables the parallel robot to perform diverse tasks including positioning, polishing, and massage applications, thereby expanding its application range without proportionally increasing system complexity
Solution Approach 2:
The force/torque sensor provides real-time feedback on force and torque between the driving device and output end. The control device uses this feedback information to dynamically adjust driving power according to preset rules, enabling closed-loop control that adapts to different application requirements. This feedback mechanism allows the system to transition from simple position control to sophisticated force and displacement control, significantly expanding application versatility
2Adaptability or versatility
If force/torque sensor and control device are added, then real-time force and displacement control is enabled, but device complexity increases
Solution Approach 1:
The force/torque sensor acts as an intermediary component that bridges the driving device and the control device. It converts physical force and torque into electrical signals that the control device can process, enabling precise measurement and control without requiring complex direct sensing mechanisms. This intermediary approach simplifies the overall system architecture while achieving sophisticated control capabilities
Solution Approach 2:
The patent replaces complex mechanical control mechanisms with an electrical control system that uses force/torque sensors and electronic control devices. Instead of using purely mechanical linkages and actuators for force control, the system uses electrical signals from sensors to dynamically adjust driving power, reducing mechanical complexity while enhancing control precision and versatility
3Ease of operation
If position control is used, then the structure is simple, but the robot cannot control force or displacement in real-time
Solution Approach 1:
The force/torque sensor provides real-time feedback on actual force conditions, and the control device uses this feedback to dynamically adjust driving power according to preset rules. This closed-loop feedback control enables precise force and displacement control while maintaining operational simplicity through automated control algorithms that process sensor data and adjust actuator output without requiring complex manual intervention
Data Source
AI summary
A parallel robot includes a base, a moving platform, a plurality of branch chains, a plurality of driving devices, a plurality of transmission devices, a plurality of force/torque sensors, and a control device. The transmission device includes an output end. Each branch chain includes a first end connected to the output end and a second end connected to the moving platform. The driving device is configured to drive the transmission device to move. The force/torque sensor is configured to sense the force and/or torque between the driving device and the output end. The control device is configured to adjust a power of the driving device according to the force and/or torque sensed by the force/torque sensor, a target force or displacement to be loaded on the moving platform, and a preset rule until the force and/or torque sensed by the force/torque sensor matches the target force or displacement.