Robot Gripping Unit Force Sensor Contact State Discrimination
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Solution Overview
Problem
Existing robotic assembly systems struggle to fit components together effectively when the contact surfaces are not chamfered, as they are unable to accurately determine and manage the force and moment interactions during the assembly process.
Innovation Solution
A robot apparatus equipped with a gripping unit, force sensor, storing unit, selecting unit, and control unit that discriminates contact states based on detection values and transitions between them to achieve proper fitting, even without chamfered surfaces, by using stored transition information to control the gripping unit and adjust the contact states accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If contact surfaces are chamfered to enable fitting, then assembly can be performed, but manufacturing complexity increases and not all components can be chamfered
Solution Approach 1:
The force sensor provides real-time feedback on contact forces and moments during the assembly process. The control unit uses this feedback information to determine the current contact state and adjust the gripping unit's position and orientation accordingly, enabling adaptive fitting without requiring pre-chamfered surfaces.
Solution Approach 2:
The system uses the natural contact interactions between components themselves to determine the fitting state. The force sensor detects forces and moments generated by the components' own geometry and material properties during contact, eliminating the need for external guidance features like chamfers.
2Adaptability or versatility
If force and moment detection is implemented to manage contact states, then fitting without chamfered surfaces becomes possible, but device complexity increases
Solution Approach 1:
The force sensor serves multiple functions: detecting contact state, determining fitting progress, and providing feedback for control adjustments. The control unit integrates this information to manage the entire fitting process, making the system versatile enough to handle various component geometries without chamfers.
Solution Approach 2:
The force sensor acts as an intermediary between the physical contact interaction and the control system. It translates mechanical forces and moments into electrical signals that the control unit can process, bridging the gap between physical assembly and digital control.
3Measurement precision
If contact states are discriminated based on detection values, then accurate fitting control is achieved, but computational complexity increases
Solution Approach 1:
The system continuously monitors detection values from the force sensor and compares them against expected ranges for different contact states. This feedback loop enables real-time discrimination of contact states with high precision while using computationally efficient threshold-based or pattern-matching algorithms.
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 successful assembly of components by accurately determining and managing contact states, allowing for fitting even when surfaces are not chamfered, thereby improving the robotic assembly process and reducing computational complexity.
Implementation Method 1
a force sensor configured to detect, as detection values, a force and a moment acting on the gripping unit
Data Source
AI summary
A robot apparatus includes a gripping unit configured to grip a first component, a force sensor configured to detect, as detection values, a force and a moment acting on the gripping unit, a storing unit having stored therein contact states of the first component and a second component and transition information in association with each other, a selecting unit configured to discriminate, on the basis of the detection values, a contact state of the first component and the second component and select, on the basis of a result of the discrimination, the transition state stored in the storing unit, and a control unit configured to control the gripping unit on the basis of the transition information selected by the selecting unit.