Robot Hand Claw Force Sensing via Base Deformation
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Solution Overview
Problem
Existing robot hands cannot measure the gripping force applied to workpieces, which can lead to damage, and their design restricts flexibility in size modification due to the need for tactile sensors.
Innovation Solution
A robot hand equipped with claw members, a support member, and sensors that measure deformation to calculate gripping force, allowing for adjustable gripping force and flexible size modifications.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If tactile sensors are mounted on the tip end portion of each claw to measure gripping force, then gripping force measurement is enabled, but the size of the claws depends on the size of the tactile sensors, preventing flexible modification in size of the claws
Solution Approach 1:
The patent extracts the sensing function from the claw tip and relocates it to the base portion of the claw. By mounting the sensor on the base portion rather than the tip, the measurement function is separated from the gripping function, allowing the claw dimensions to be independently optimized for gripping performance while the sensor measures deformation at the base to calculate grip force.
Solution Approach 2:
The patent uses the claw's own elastic deformation as an intermediary mechanism to transmit grip force information from the tip to the base where the sensor is located. The claw body itself becomes the sensing element, with its elastic properties enabling force transmission and measurement without requiring the sensor to be at the tip.
2Ease of operation
If the positions at which the base portions of the claws are secured to the respective direct-acting shafts are located on the both sides across the tip end portions of the two claws, then the tip end portions can easily grip small workpieces, but the gripping force for gripping the workpiece cannot be measured
Solution Approach 1:
The patent extracts the measurement function from the claw tip positioning and relocates it to the base portion. This allows the claw base positioning to be optimized for gripping small workpieces while the sensor at the base independently performs force measurement through elastic deformation detection.
Solution Approach 2:
The claw structure itself serves dual purposes: it performs the gripping function with its tip end portions positioned for small workpiece access, and simultaneously serves as the sensing element through its elastic deformation at the base portion, eliminating the need for separate measurement mechanisms at the tip.
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 precise measurement and adjustment of gripping force, preventing damage to workpieces while allowing for narrower claw designs, enhancing flexibility and accuracy in gripping operations.
Implementation Method 1
each of the sensors being configured to sense an amount of deformation of a corresponding one of the claw members to which the sensors are attached
Data Source
AI summary
Provided is a robot hand including: a plurality of claw members configured to grip a gripping target member; a support member that holds one end portions of the respective claw members such that the claw members are swingable; an actuator configured to drive the claw members; and a plurality of sensors attached to the respective claw members, each of the sensors being configured to sense an amount of deformation of a corresponding one of the claw members to which the sensors are attached, when the claw members grip the gripping target member.