Robot Hand Sensor Integration for Transparent Object Gripping
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Solution Overview
Problem
Conventional robot grippers are limited in their ability to safely and accurately grip objects with non-level surfaces or transparent materials, and require additional processes to measure distances, which can be inefficient and prone to interference between sensors.
Innovation Solution
A robot hand with a palm and multiple fingers, equipped with distance sensors on the palm and fingers, allowing for simultaneous and coordinated approach and gripping of objects, using a combination of sensors like ultrasonic, laser, and infrared sensors to measure distances and determine object shape, and contact sensors to apply the necessary force for secure gripping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a robot gripper uses light-based distance sensors to measure object distance, then the measurement process is simple, but it becomes incapable of measuring transparent objects
Solution Approach 1:
The robot gripper integrates multiple types of distance sensors (ultrasonic, infrared, laser) that can detect different types of objects including transparent ones. This multi-functional sensor system allows the gripper to adapt to various object materials and surfaces, resolving the limitation of light-based sensors alone.
Solution Approach 2:
The system employs a composite sensing approach combining multiple sensor technologies, each with different detection mechanisms. This composite sensor system overcomes the weaknesses of individual sensor types, enabling detection of transparent objects while maintaining operational simplicity.
2Measurement precision
If the gripper moves itself to measure distance by receiving reflected beams, then distance measurement can be achieved, but an additional process is required which reduces efficiency
Solution Approach 1:
The system replaces mechanical movement of the gripper with stationary distance sensors that actively emit and receive signals. This substitution eliminates the need for additional gripping movements, maintaining measurement precision while improving operational efficiency.
Solution Approach 2:
Distance sensors are positioned in advance on the gripper structure to measure object distance before the gripping action begins. This preliminary measurement allows the control system to plan the gripping motion accurately without requiring additional exploratory movements.
3Manufacturing precision
If multiple distance sensors are installed on both the palm and fingers, then rapid and accurate gripping can be achieved, but sensor interference may occur
Solution Approach 1:
Multiple distance sensors operate in alternating periodic cycles rather than simultaneously. Each sensor is activated in sequence with timed intervals, allowing the system to collect distance data from all sensors without mutual interference, thus maintaining both gripping accuracy and sensor reliability.
Solution Approach 2:
The control system coordinates sensor activation in advance, assigning specific time slots to each sensor. This preliminary scheduling prevents signal interference while ensuring all sensors contribute to the overall positioning 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 rapid and accurate gripping of objects regardless of shape or material, reducing the need for additional measurement processes and preventing sensor interference, while ensuring safe handling of various objects, including those with complex geometries or transparent materials.
Implementation Method 1
at least one first distance sensor installed on the palm and at least one second distance sensor installed on the tip segments of the plurality of fingers
Implementation Method 2
using a combination of sensors like ultrasonic, laser, and infrared sensors to measure distances
Implementation Method 3
using a combination of sensors like ultrasonic, laser, and infrared sensors to measure distances
Data Source
AI summary
Disclosed are a robot, a robot hand, and a method of controlling the robot hand, in which the robot hand rapidly and correctly approaches an object to be gripped and safely grips the object regardless of the shape and material of the object. The method of controlling a robot hand, which has a palm, and a plurality of fingers, each having a plurality of segments, connected to the palm, includes causing the palm to approach an object using at least one first distance sensor installed on the palm; causing the plurality of fingers to approach the object using at least one second distance sensor installed on the plurality of fingers; and causing the palm and the plurality of fingers to come into contact the object to grip the object.