Robot Hand Guide With Force-Torque Sensing for Precise Manual Teaching
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Solution Overview
Problem
Existing robot hand guide devices lack flexibility and precision in manual guidance and programming of robot arms, as they are unable to effectively detect and transmit the forces and torques applied by a human operator, limiting their manual operation capabilities.
Innovation Solution
A robot hand guide device with a transfer apparatus and sensor system that includes deformation portions connected by strain gauges, allowing for the detection of forces and torques applied by a human operator, enabling precise manual guidance and programming of robot arms, with detachable guide handles for flexible operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot hand guide device uses a fixed guide handle connection, then the structure is simple, but the operational flexibility and adaptability are reduced
Solution Approach 1:
The guide handle connection is designed to be dynamically changeable between fixed and detachable states. The first connection means allows the guide handle to be securely fixed during operation for precision, while also enabling easy detachment when reconfiguration is needed, providing operational flexibility without permanent complexity
Solution Approach 2:
The connection system is segmented into separate detachable components (first connection means on the flange and corresponding connection interface on the guide handle). This segmentation allows the guide handle to be separated from the robot hand guide device when not needed, improving adaptability while keeping the base structure simple
2Measurement precision
If the robot hand guide device includes sensor device and transfer apparatus, then the measurement precision of forces and torques is improved, but the device complexity increases
Solution Approach 1:
The transfer apparatus serves multiple functions: it mechanically transfers forces and torques from the guide handle to the flange, and simultaneously acts as the mounting structure for the sensor device. This multi-functionality reduces overall device complexity while maintaining high measurement precision through the integrated force/torque sensor
Solution Approach 2:
The sensor device is integrated into the transfer apparatus structure rather than being a separate component. The force/torque sensor is mounted directly on the transfer apparatus, merging the force transmission path and sensor measurement path into a single integrated system, reducing complexity while preserving measurement accuracy
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 flexible and precise manual guidance and programming of robot arms by accurately detecting and transmitting human-applied forces and torques, allowing for semi-automatic control of the robot arm's joints, enhancing operational flexibility and precision.
Implementation Method 1
a transfer apparatus (13), which is designed to transfer forces and torques between the first connection flange (14.1) and the second connection flange (14.2)
Implementation Method 2
said sensor device being designed to detect the forces and torques transferred via the transfer apparatus
Data Source
AI summary
A robot hand guide device includes a first connection flange configured to connect the robot hand guide device to a tool flange of a robot arm, a second connection flange configured to fasten a tool to be handled by the robot arm to the robot hand guide device, and a transfer apparatus configured to transfer forces and torques between the first connection flange and the second connection flange. A sensor device attached to the transfer apparatus is configured to detect forces and torques transferred via the transfer apparatus. The robot hand guide device further includes at least a first connection element connected to the first connection flange and configured for detachably connecting a guide handle of the robot hand guide device to the first connection flange.