Elastic Robotic Gripper Jaws for Tactile Holding Force Teaching
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Solution Overview
Problem
Current methods for teaching a holding force to a robot manipulator's gripper lack efficiency and precision, particularly when handling delicate objects, as they often require numerical input and may cause damage due to excessive force application.
Innovation Solution
The method involves using elastically deformable gripper jaws that can be manually closed to apply a desired force, with a gripper drive maintaining the position of the jaws' connection points, allowing for the measurement and storage of gripping force or torque without energy dissipation, providing direct tactile feedback and precise control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If numerical input methods are used to teach holding force, then precision can be achieved, but efficiency and ease of operation deteriorate due to complex input procedures
Solution Approach 1:
The patent replaces numerical input methods with a mechanical force application system. The user directly applies physical force to the gripper jaws, and the system measures this force through elastic deformation of the jaws. This substitution eliminates complex numerical input procedures while maintaining precise force measurement through the elastic properties of the gripper jaws and associated sensors.
2Force
If excessive force is applied during teaching, then the desired holding force can be achieved, but object damage occurs
Solution Approach 1:
The patent implements continuous feedback during the force teaching process. Sensors monitor the elastic deformation of the gripper jaws in real-time, providing feedback to the control system. This allows the system to detect when the desired holding force is achieved and automatically prevent excessive force application, thereby protecting the object from damage while ensuring the correct force is taught.
Solution Approach 2:
The elastic deformability of the gripper jaws serves as a built-in cushioning mechanism. The elastic material absorbs excess force through deformation, preventing direct transmission of harmful forces to the object. This cushioning effect occurs automatically during the teaching process, protecting the object while allowing the user to apply force safely.
3Measurement precision
If elastically deformable gripper jaws are used, then force measurement precision improves, but device complexity increases
Solution Approach 1:
The elastic gripper jaws serve multiple functions simultaneously: they perform the primary gripping function, act as force sensors through their elastic deformation, and provide tactile feedback to the user. This multi-functionality eliminates the need for separate sensing mechanisms, reducing overall system complexity while maintaining precise force measurement capabilities.
Solution Approach 2:
The patent utilizes the elastic parameters of the gripper jaw material to enable force measurement. By selecting materials and designs with specific elastic properties, the system converts mechanical force into measurable deformation. This approach leverages inherent material parameters rather than requiring complex sensing hardware, thereby maintaining measurement precision while controlling device complexity.
4Ease of operation
If manual force application is used for teaching, then ease of operation improves, but measurement precision may deteriorate due to human error
Solution Approach 1:
The patent replaces subjective human judgment about force application with objective mechanical measurement. The elastic deformation of the gripper jaws provides a precise, quantifiable measure of the applied force, eliminating human error in force estimation. The system automatically captures and stores the measured force value, ensuring accurate reproduction of the taught holding force.
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
This approach enables intuitive and precise communication of a holding force to a robot system, reducing the risk of object damage by allowing manual force input without numerical values, and ensures accurate and efficient force transmission without friction losses.
Implementation Method 1
the gripper jaws which are elastically deformable in a reversible manner
Implementation Method 2
During the deformation, a spring force therefore acts against it, and also acts when deforming back into the original shape of the gripper jaws until the original shape is restored
Data Source
AI summary
A method of teaching in a holding force for holding an object by a gripper of a robot manipulator, the gripper having gripper jaws elastically deformable in a reversible manner, the method including: closing the gripper until the gripper jaws contact the object at contact points of the gripper jaws; externally applying a desired closing force at connection points of the gripper jaws to gripper jaw bearings such that the connection points move relative to the contact points, thereby elastically deforming the gripper jaws; actuating a gripper drive to maintain the current position of the connection points and terminating the closing force externally applied onto the connection points; and ascertaining and storing a value of a gripping force or a gripping torque, wherein the gripping force or the gripping torque is produced by elastic deformation of the gripper jaws and is exerted onto the connection points by the gripper jaws.