Robot Teaching End Effector for Accurate Interaction Force Sensing
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Solution Overview
Problem
Existing robot teaching devices lack the ability to intuitively measure interaction forces required for tasks like deburring, and existing configurations are prone to inaccuracies due to sensor placement and increased engineering costs.
Innovation Solution
A robot teaching device with a first end effector featuring a switchable claw portion and handle, equipped with a force sensor, allows for accurate force measurement by gripping the handle in a fixed state, and includes a calibration jig to align coordinate systems for precise robot control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a force sensor is mounted on the teaching device to measure interaction force with work object, then force measurement capability is improved, but measurement precision deteriorates due to incorrect measurement caused by sensor attachment position and teacher support location
Solution Approach 1:
The teaching device is segmented into multiple measurement points: a first force sensor attached to the handle for measuring forces applied by the teacher, and a second force sensor attached to the operation device for measuring interaction forces with the work object. This segmentation allows independent measurement of different force components, improving overall measurement accuracy without requiring a single complex sensor attachment system.
Solution Approach 2:
The handle serves as an intermediary element between the teacher's hand and the operation device. By placing the first force sensor on the handle, the system mediates the force transmission path, allowing accurate measurement of teacher-applied forces separate from the work object interaction forces measured by the second sensor on the operation device.
2Measurement precision
If the teaching device simulates work tool to measure interaction force, then force measurement capability is improved, but device complexity and engineering cost increase
Solution Approach 1:
The operation device is designed with universal force measurement capability through the second force sensor that measures interaction forces with various work objects regardless of tool type. The device can measure forces for different work contents (gripping, deburring, etc.) without requiring specialized tool-specific simulations, reducing overall device complexity while maintaining measurement capability.
Solution Approach 2:
The force measurement function is extracted from the work tool simulation and implemented through dedicated force sensors (first and second force sensors) attached to the teaching device. This separates the measurement function from the tool structure, allowing force measurement capability without requiring complex tool simulations for each work content.
3Ease of operation
If the claw portion remains openable and closable during teaching, then ease of operation is improved, but measurement precision deteriorates due to inability to isolate teacher's grip force from claw operation forces
Solution Approach 1:
The claw portion transitions from a static measurement state (fixed during force measurement) to a dynamic operation state (openable and closable during teaching). The fixing mechanism allows the system to adapt its degree of freedom based on the teaching phase: fixed during force measurement to ensure accuracy, and movable during normal teaching operations to maintain ease of use.
Solution Approach 2:
The claw portion is fixed in advance before force measurement begins, preparing the measurement configuration beforehand. This preliminary fixing action ensures that when the teacher grips the handle, the only forces measured are from the grip itself, not from concurrent claw movements, thereby ensuring measurement precision while maintaining operational flexibility for other teaching activities.
Data Source
AI summary
Provided is a robot teaching device including an end effector that can be intuitively operated by a teacher, and the robot teaching device can accurately measure an interaction force between the end effector and a work object.In a robot teaching device 5 including a first end effector 1 that is gripped and operated by a teacher, the first end effector 1 includes a first claw portion 10 capable of switching between an openable and closable state and an opening-closing fixing state, a handle 12, and a first force sensor 11 that measures a force and torque between the first claw portion 10 and the handle 12, and generates teaching data based on an output of the first force sensor 11 when the first claw portion 10 is in the opening-closing fixing state and the handle 12 is gripped by the teacher.