Robot Actuator Frame Layout for 360° Sensor Calibration
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Solution Overview
Problem
The calibration of sensors for detecting actuator rotation is limited by the range of motion, often restricted to avoid interference with other parts, leading to reduced accuracy.
Innovation Solution
The actuator design allows a first attached portion and rotation outputting section to rotate over an angle greater than 360 degrees, enabling accurate calibration by removing the remaining connection frame portion, thus expanding the calibration range.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the connection frame is attached to the rotation outputting section, then the rigidity of the connection frame is secured, but the rotation range is limited to a narrow range which degrades calibration accuracy
Solution Approach 1:
The connection frame is divided into a first attached portion that remains connected to the rotation outputting section and a remaining portion that is temporarily removed during calibration. This segmentation allows the first attached portion to maintain structural rigidity while the removed remaining portion enables unrestricted rotation for accurate sensor calibration.
Solution Approach 2:
The connection frame transitions from a static fully-attached state to a dynamic partially-removed state during calibration. The remaining portion is temporarily removed to allow dynamic rotation over greater than 360 degrees, then reattached after calibration to restore structural rigidity.
2Measurement precision
If the remaining portion of the connection frame is removed, then the rotation angle exceeds 360 degrees enabling accurate calibration, but the structural integrity is reduced
Solution Approach 1:
The connection frame is segmented into essential structural components (first attached portion) and non-essential components (remaining portion) that can be temporarily removed. This allows calibration to proceed with enhanced rotational freedom while the essential first attached portion maintains structural integrity.
Solution Approach 2:
The remaining portion of the connection frame is temporarily discarded during calibration to enable accurate sensor calibration, then recovered and reattached after calibration to restore full structural integrity. This temporary discarding and recovery resolves the contradiction between calibration accuracy and structural strength.
Data Source
AI summary
Provided is a robot which can improve accuracy of calibration of a rotation sensor for detecting a movement of an actuator included in the robot. The robot (1) includes a connection frame (63) that supports a rolling actuator (13). The connection frame (63) has a first attached portion (63g) attached to a rotation outputting section (12c) of an actuator (12) and a remaining portion (a first arm portion (63b), a supporting portion (63a), and a second arm portion (63c)) connected to the first attached portion (63g). A sensor rotation portion (16a) of a rotation sensor (16) is attached to the first attached portion (63g). The first attached portion (63g) and the rotation outputting section (12c) are rotatable over an angle greater than 360 degrees in a state in which the first attached portion (63g) is attached to the rotation outputting section (12c) and in which the remaining portion of the connection frame (63) is removed from the first attached portion (63g).