Robot Manipulator Force Sensor Cover and Calculation
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Solution Overview
Problem
Conventional robot manipulators face challenges in accurately measuring the magnitude, direction, and position of external forces applied to their joints, leading to inefficiencies and increased costs due to the need for multiple sensors and complex joint designs.
Innovation Solution
A sensing device comprising a cover, a single 6-axis force sensor, and a force information calculating part is used to detect the magnitude, direction, and position of forces applied to an arbitrary position on the cover, which is disposed between the robot body and the cover, simplifying the joint structure and reducing wiring complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If torque sensors are equipped to each joint to measure external force, then the force measurement capability is improved, but the device complexity and cost increase
Solution Approach 1:
The patent combines multiple torque sensors into a single integrated force sensor that measures both force and torque simultaneously. This single sensor is disposed at a specific position between the body and cover, replacing the need for multiple separate torque sensors at each joint, thereby reducing device complexity while maintaining measurement capability
Solution Approach 2:
The force sensor serves multiple functions: it measures both force and torque components, and can detect external forces applied at various positions on the cover. This multi-functional sensor eliminates the need for separate sensors for different measurement purposes, reducing overall system complexity
2Measurement precision
If skin type film sensors are used to cover joint links, then the force distribution measurement is improved, but the wiring complexity increases
Solution Approach 1:
The patent consolidates multiple sensor nodes into a single integrated force sensor that measures force and torque components. This single sensor with six measurement components replaces the need for multiple distributed sensor nodes, significantly reducing wiring complexity while maintaining the ability to measure force distribution
3Measurement precision
If multiple sensor nodes are arranged over the entire surface, then the force position detection is improved, but the sensor quantity and cost increase
Solution Approach 1:
The patent introduces a cover as an intermediary structure with a specific shape that transmits force information to the single force sensor. The cover acts as a mediator that distributes and transmits force applied at various positions to the sensor, enabling position detection without requiring multiple sensor nodes across the surface
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 proposed solution allows for effective detection of forces applied to the cover, including their direction and position, with reduced wiring complexity and simplified joint structures, compared to traditional skin type film sensors and torque sensors.
Implementation Method 1
the force sensor disposed at a position between a body having various kinds of structures and a cover covering the body, to measure a force and a torque which are applied via the cover
Data Source
AI summary
In a sensing device and a robot manipulator having the sensing device, the sensing device includes a cover, a force sensor and a force information calculating part. The cover has a predetermined shape and is configured to cover a body. The force sensor is disposed at a position between the body and the cover, and is configured to measure a force and a torque applied via the cover at the position. The force information calculating part is configured to obtain an information on the force applied to the cover from data measured by the force sensor, when the force is applied to an arbitrary position of the cover.