Robotic End Effector Ridge Vibration Slip Detection
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Solution Overview
Problem
Existing robotic arms face challenges in accurately detecting slip events while grasping objects, which can lead to damage from excessive force or loss of grip due to insufficient force.
Innovation Solution
A robotic arm system equipped with an end effector featuring a plurality of ridges, a sensor to detect vibrations from these ridges, and a processor to analyze these vibrations and adjust the end effector accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a robotic arm grasps an object firmly, then the object is held securely, but the object may be damaged
Solution Approach 1:
The patent employs tactile sensors on the end effector to detect contact forces and slip events during grasping. The sensor signals are processed to determine whether the object is slipping or being damaged, and this information feeds back to adjust the grasp force in real-time, resolving the contradiction between secure holding and preventing damage
Solution Approach 2:
The patent replaces traditional force-torque sensors with tactile sensors that detect vibrations and contact forces directly at the contact point. This substitution enables more precise local measurement of grasp forces, allowing the system to maintain secure grip while minimizing damage risk through accurate real-time feedback
2Object-affected harmful factors
If a robotic arm grasps an object softly, then the object is not damaged, but the object may slip away from the grasp
Solution Approach 1:
The tactile sensors continuously monitor contact forces and detect slip events by analyzing vibration patterns. When slipping is detected, the system immediately increases grasp force to prevent loss of grip, while the baseline soft grasp prevents damage during normal holding, thus resolving the contradiction through dynamic adjustment
Solution Approach 2:
The patent utilizes vibration detection as the primary mechanism for slip detection. The tactile sensors detect characteristic vibration patterns that occur when an object slips against the end effector surface, enabling the system to distinguish between normal contact vibrations and slip events for appropriate force adjustment
3Measurement precision
If biomimetic tactile sensors are used to detect slip events, then slip detection capability is improved, but the device complexity increases due to multiple required components
Solution Approach 1:
The patent extracts and implements only the essential tactile sensing function needed for slip detection, using simplified sensor arrays on the end effector surface rather than complete biomimetic systems. This extraction maintains slip detection capability while eliminating unnecessary complex components such as impedance sensing electrodes and hydroacoustic transducers
Solution Approach 2:
The patent employs simpler, more robust tactile sensor elements that can be integrated directly into the end effector structure, replacing fragile biomimetic components. These simplified sensors achieve sufficient measurement precision for slip detection without requiring the complex assembly of multiple specialized components
4Measurement precision
If biomimetic tactile sensors are used for heavy objects, then slip detection is enabled, but the pressure required to grasp heavy objects may cause the fluid to damage the skin
Solution Approach 1:
The patent replaces the fragile elastomeric skin containing conductive fluid with more robust sensor elements that can withstand high pressures required for grasping heavy objects. The simplified sensor design eliminates the risk of skin damage while maintaining slip detection functionality through alternative sensing mechanisms
Solution Approach 2:
The patent divides the end effector surface into multiple discrete sensor regions, each equipped with simple tactile sensors that independently detect contact forces and slip events. This segmentation allows the system to handle heavy objects with distributed pressure while maintaining slip detection capability without requiring a single complex biomimetic sensor
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
The system effectively detects slip events and adjusts the grip force in real-time, preventing object damage and maintaining a secure grasp.
Implementation Method 1
detecting, with the sensor, vibrations from the plurality of ridges caused by a movement between the target object and the plurality of ridges
Data Source
AI summary
A system includes a processor, a robotic arm comprising an end effector, wherein the end effector comprises a plurality of ridges, a sensor configured to detect vibrations from the plurality of ridges, and a memory module. The memory module stores machine-readable instructions that cause the processor to perform operations including contacting, with the plurality of ridges, a target object, detecting, with the sensor, vibrations from the plurality of ridges caused by a movement between the target object and the plurality of ridges, determining an attribute of the movement based on the detected signals, and adjusting the end effector based on the attribute of the movement.