Robot Platform Torque Sensing for Loaded Item Center of Gravity
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Solution Overview
Problem
Current mobile robots cannot accurately determine the center of gravity and height of loaded items, limiting their performance optimization.
Innovation Solution
A robot equipped with a platform, actuator module, and controller that derives information on the center of gravity, weight, and height of loaded items by analyzing torque and eccentric arm movements, allowing for posture adjustments to enhance stability and efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a weight detection sensor is used to identify the weight of a loaded item, then the weight information can be obtained, but the position of the center of gravity and height of the system cannot be identified
Solution Approach 1:
The actuator module is designed to serve multiple functions: it acts as both a driving mechanism for moving the platform and as a sensing device for detecting load information. By measuring the torque required to move the platform at different positions and angles, the actuator simultaneously performs mechanical work and gathers data about the loaded item's weight, center of gravity position, and height, eliminating the need for separate sensors for each parameter.
2Device complexity
If only weight information is used to control the mobile robot, then the control system is simple, but the performance of the mobile robot cannot be maximized
Solution Approach 1:
The actuator module performs self-diagnosis and self-measurement by analyzing the torque it generates during its normal operation. The controller derives weight, center of gravity position, and height information from the torque data collected during platform movement, allowing the system to obtain comprehensive physical parameters without adding complex external sensing equipment or increasing overall system complexity.
3Measurement precision
If the platform is rotated to different postures to derive center of gravity information, then accurate center of gravity data can be obtained, but the time required for measurement increases
Solution Approach 1:
The system derives center of gravity information by periodically moving the platform to different known positions and angles, measuring the torque at each position, and using these periodic measurements to calculate the center of gravity coordinates. This method achieves accurate three-dimensional center of gravity determination through a series of discrete, periodic posture changes rather than continuous measurement, optimizing the balance between accuracy and time efficiency.
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 determination of the center of gravity, improving the robot's operational efficiency and stability by ensuring proper item fixation and posture adjustments.
Implementation Method 1
an actuator module connected to the platform and configured to move the platform
Implementation Method 2
derive one or more of information indicative of a weight of the loaded item, information indicative of a center of gravity of a system including the platform and the loaded item... based on a load applied to a partial region of the actuator module
Data Source
AI summary
A robot includes a platform onto which an item is loaded, an actuator module connected to the platform and configured to move the platform, and a controller. The controller is configured to derive one or more of information indicative of a weight of the loaded item or information indicative of a center of gravity of a system including the platform and the loaded item in a state in which the item is loaded onto the platform. The controller is configured to derive one or more of information indicative of the weight of the loaded item, information indicative of a horizontal position of the center of gravity of the system including the platform and the loaded item, or information indicative of a height of the center of gravity of the system based on a load applied to a partial region of the actuator module.