Robot Arm Control Apparatus With Separated Grip Part
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Solution Overview
Problem
Current robot arm control methods face challenges in improving operability and safety during tasks like cooperative conveyance and direct manipulation, particularly with heavy objects, due to issues such as inertia influence, unsafe handling, and complex motion limitations.
Innovation Solution
A robot arm control device with a mechanistically separated grip part and end effector, featuring a tracking control system that adjusts based on relative position and contact information to ensure safe and precise manipulation, allowing the grip part to be gripped by the user and controlled to maintain a prescribed threshold range, thereby reducing the influence of the robot arm's inertia and enhancing safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If the robot arm is made heavy to increase stability and carrying capacity, then the robot can handle heavier objects, but the user cannot manipulate the robot and cannot feel physical reaction during contact
Solution Approach 1:
The robot arm is divided into two independent arms: a first robot arm for stable positioning and a second robot arm for manipulation. The first arm carries the load while the second arm provides the grip part, separating the heavy stable component from the manipulative component.
Solution Approach 2:
A spring mechanism acts as an intermediary between the two robot arms, allowing force transmission while providing compliance. This enables the user to manipulate the second arm with reduced force while the first arm maintains stable positioning.
2Stability of the object's composition
If the robot arm is made heavy to increase stability, then the robot can maintain position better, but the user cannot feel physical reaction when the robot contacts the target object
Solution Approach 1:
The system separates the stable first robot arm from the manipulative second robot arm, allowing the second arm to provide tactile feedback to the user while the first arm maintains stable positioning without interfering with the user's sense of contact.
Solution Approach 2:
The spring mechanism serves as a mediator that transmits force information from the first arm to the second arm, enabling the user to feel physical reactions through the grip part while maintaining overall system stability.
3Ease of operation
If direct teaching is used to improve ease of operation, then intuitive manipulation is possible, but the robot becomes dangerous when out of control and the user cannot support heavy robots
Solution Approach 1:
By separating the robot into two arms with different functions, the system allows the lighter second arm to be safely manipulated by the user for direct teaching, while the heavier first arm provides stable support without posing a safety risk to the user.
Solution Approach 2:
The spring mechanism acts as a safety intermediary, providing compliance and force limitation during direct teaching operations, which prevents dangerous forces from reaching the user while maintaining intuitive manipulation capability.
4Measurement precision
If a second robot arm is attached by spring to improve direct teaching precision, then more precise direct teaching is realized, but the structure becomes more complex
Solution Approach 1:
The system divides the robot into two independent arms that can be controlled separately, allowing precise positioning through coordinated control while maintaining relatively simple individual arm structures.
Solution Approach 2:
The spring mechanism provides a simple yet effective intermediary connection that enables force transmission and compliance without requiring complex actuators or control systems, achieving precise control through passive mechanical elements.
5Ease of operation
If the grip part is mechanistically separated from the end effector to reduce inertia influence, then operability is improved, but the device complexity increases
Solution Approach 1:
The grip part is separated from the end effector and attached to a dedicated second robot arm, creating independent functional modules that reduce the effective mass being manipulated and improve operability.
Solution Approach 2:
The spring mechanism serves as an intermediary connection between the grip part and the second robot arm, providing compliance and force transmission while maintaining a relatively simple mechanical structure without requiring complex joints or actuators.
Data Source
AI summary
A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.