Robot Arm Force Measuring Device Integration
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Solution Overview
Problem
Existing robots lack precise force measurement capabilities, which affects their positioning accuracy and safety in human-robot cooperation, particularly in industrial settings where precise control of forces and torques is necessary.
Innovation Solution
A robot arm with a force measuring device integrated into its links, featuring a bearing arrangement that allows mobility only in the direction of force measurement, combined with torque sensors and adjustable structural components to enhance precision and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a force measuring device is integrated into the robot arm link, then measurement precision of forces is improved, but device complexity increases due to additional structural components and bearing arrangements
Solution Approach 1:
The force measuring device is merged with the robot arm link by integrating the bearing arrangement directly into the link structure. The first and second structural components are connected through bearings that are part of the link itself, combining the structural support function with the force measurement function in a single integrated assembly, thereby reducing overall device complexity while maintaining measurement precision.
Solution Approach 2:
The bearing arrangement serves multiple functions simultaneously: it provides mechanical support for the robot arm link, enables controlled mobility in the force measurement direction, and acts as the sensing element for force measurement. This multi-functionality reduces the need for separate components, resolving the contradiction between measurement precision and device complexity.
2Measurement precision
If a bearing arrangement with one degree of freedom is used to connect structural components, then measurement precision is improved by isolating force measurement direction, but ease of operation deteriorates due to restricted mobility
Solution Approach 1:
The bearing arrangement provides differentiated mobility characteristics for different directions: it allows free movement in directions perpendicular to the force measurement direction while constraining movement only in the force measurement direction. This local quality approach enables precise force measurement in one direction without affecting overall operational mobility of the robot arm.
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 determination of forces acting on the robot arm, improving positioning accuracy and safety by allowing controlled movement and preventing unintended collisions, thus enhancing human-robot cooperation.
Implementation Method 1
a bearing arrangement, which connects the first structural component to the second structural component and is designed to rigidly connect the first structural component to the second structural component leaving only one degree of freedom, wherein the one degree of freedom of the bearing is designed to permit mobility only in the direction in which the force measuring device is configured to measure the force
Data Source
AI summary
A robot includes a robot controller that is designed and configured to execute a robot program, and a robot arm having at least three joints connected by links and a number of drives corresponding to the at least three joints. Each drive is designed to adjust one of the at least three joints allocated to the drive. The joints can be actuated in an automated manner in accordance with the robot program or in a manual drive mode by the robot controller to automatically adjust the associated joint, wherein at least one of the links includes a force measuring device designed to measure a force on the link in a predetermined direction.