Robot Grip Control Using Pressure Distribution Slip Detection
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Solution Overview
Problem
Existing robot hands face issues with work slips leading to failures such as work fall and position deviation, requiring time-consuming methods like regripping to change gripping direction, which affects working speed.
Innovation Solution
A robot apparatus with a hand portion equipped with sensor units capable of detecting pressure distribution, allowing it to detect slips and adjust gripping force and position without regripping, using elastically deformable capacitive sensors to change the gripping direction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If regripping method is used to change gripping direction, then gripping direction can be changed, but working time increases significantly
Solution Approach 1:
The patent implements dynamic gripping direction change by detecting workpiece slip in real-time and automatically adjusting the gripping direction during the gripping state, rather than requiring static regripping operations. The control unit dynamically modifies the gripping direction based on slip detection results, enabling continuous adaptation without releasing the grip.
Solution Approach 2:
The patent employs feedback control by using pressure distribution sensors to continuously monitor the gripping state and detect workpiece slip. The detection unit provides real-time feedback to the control unit, which then adjusts the gripping direction accordingly, forming a closed-loop control system that prevents workpiece drop while minimizing intervention time.
2Measurement precision
If pressure distribution detection is implemented, then slip detection accuracy improves, but device complexity increases
Solution Approach 1:
The patent uses a flexible pressure distribution sensor that can be attached to the gripping surface of the robot hand. This thin-film sensor conformally maps the pressure distribution across the gripping surface, providing high-resolution slip detection without adding significant structural complexity to the robot hand mechanism.
Solution Approach 2:
The pressure distribution sensor is divided into multiple sensing elements arranged in a matrix or grid pattern across the gripping surface. Each element independently measures local pressure, and the control unit processes the distributed measurements to detect slip patterns, enabling precise slip detection through segmented sensing rather than a single complex sensor.
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 seamless adjustment of gripping direction without regripping, enhancing working speed and stability by detecting slips and adjusting gripping forces and positions in real-time.
Implementation Method 1
an elastically deformable sensor sheet having a plurality of capacitive elements that detects a pressure acting on the gripping surface
Implementation Method 2
an elastically deformable sensor sheet having a plurality of capacitive elements that detects a pressure acting on the gripping surface
Data Source
AI summary
There is provided an apparatus including: a hand portion with a plurality of finger portions respectively having gripping surfaces capable of gripping a work; a sensor unit provided in at least one of the plurality of finger portions and capable of detecting a pressure distribution on the gripping surface; and a control apparatus configured to detect a slip of the work on the gripping surface on the basis of an output of the sensor unit and generate a control command to change a relative position of the hand portion with respect to the work.