Horizontal Articulated Robot Force Sensor Mounting
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Solution Overview
Problem
The weight capacity of SCARA robots is insufficient due to the inclusion of a force sensor at the distal end of the third arm, which affects their ability to perform tasks effectively.
Innovation Solution
A horizontal articulated robot design that includes a supporting section in the second arm to bear the weight of the force detecting section, allowing it to be positioned between the second arm and the supporting section, thereby preventing a decrease in weight capacity and enabling stable operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a force sensor is installed at the distal end of the third arm to detect force applied to the third arm, then force detection capability is improved, but the weight capacity of the third arm decreases due to the weight of the force sensor
Solution Approach 1:
A supporting section is introduced as an intermediary component between the second arm and the third arm. This supporting section is configured to support the third arm and is positioned such that the force sensor can detect force applied to the third arm without the sensor's weight being included in the weight capacity of the third arm. The supporting section acts as a mediator that separates the force detection function from the weight-bearing function of the third arm.
2Ease of operation
If the force sensor weight is included in the weight capacity of the third arm, then the force sensor can be mounted on the third arm, but the substantial weight capacity decreases
Solution Approach 1:
The robot arm structure is segmented into functional components: the second arm, the supporting section, and the third arm. The force sensor is mounted on the supporting section rather than directly on the third arm. This segmentation allows the force sensor to be mounted while its weight is borne by the supporting section and second arm, not the third arm, thus maintaining the third arm's weight capacity.
Data Source
AI summary
A horizontal articulated robot includes a base; a first arm coupled to the base and configured to turn around a first axis, a second arm coupled to the first arm and configured to turn around a second axis parallel to the first axis, a third arm coupled to the second arm and configured to turn around a third axis parallel to the first axis and move along the third axis, a supporting section provided in the second arm and configured to support the third arm, and a force detecting section provided between the second arm and the supporting section and configured to detect force applied to the third arm.