Multi-Joint Robot Torque Sensors Tuned by Elastic Member Count
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Solution Overview
Problem
Existing robot apparatuses with uniform torque sensors across all joints face decreased operation accuracy due to varying operation environments of individual joints, influenced by factors like ambient environment and motor speed reducers.
Innovation Solution
A robot with multiple joints equipped with torque sensors having varying numbers of elastic members and detection units, tailored to each joint's specific conditions, to enhance accuracy and reduce erroneous torque detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the same sensor is disposed in all joints, then the device complexity is reduced and manufacturing cost is lowered, but the operation accuracy of the multi-joint robot decreases
Solution Approach 1:
The patent applies local quality by configuring torque sensors with different numbers of elastic members according to the specific operational requirements of each joint. The control unit stores different detection unit configurations for different joints, allowing each joint to have optimized sensor characteristics matched to its local operational environment, thereby improving overall operation accuracy without requiring complete uniformity across all joints.
2Measurement precision
If torque sensors are customized for each joint, then the operation accuracy is improved, but the device complexity and manufacturing cost increase
Solution Approach 1:
The patent implements parameter changes by varying the number of elastic members in torque sensors based on the specific operational parameters of each joint. The control unit stores detection unit configurations with different parameters (number of elastic members) for different joints, allowing optimization of torque detection accuracy for each joint's specific load and operational characteristics without requiring complete redesign of all sensors.
3Measurement precision
If the number of elastic members varies by joint, then the torque detection accuracy is improved, but the sensor configuration complexity increases
Solution Approach 1:
The patent applies universality by using a standardized torque sensor design that can be configured with different numbers of elastic members through software control. The control unit stores multiple detection unit configurations and selects the appropriate configuration for each joint, allowing a single sensor type to serve multiple joints with different requirements, thereby reducing the need for completely different sensor designs while maintaining detection 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
Improves operation accuracy of the robot by optimizing torque detection through customized sensor configurations for each joint, balancing cost, size, and resolution.
Implementation Method 1
an elastic member configured to connect the first support member and the second support member
Data Source
AI summary
A robot includes a plurality of joints including a first joint and a second joint, wherein each of the first joint and the second joint including a first support member, a second support member facing the first support member and configured to be displaceable relative to the first support member, an elastic member configured to connect the first support member and the second support member, and a torque sensor including a detection unit configured to detect a relative displacement amount between the first support member and the second support member, and wherein a number of the elastic members of the torque sensor in the first joint is different from a number of the elastic members of the torque sensor in the second joint.