Robotic Tape Removal With Force-Controlled Surface Protection
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Solution Overview
Problem
Current tape peel processes are labor-intensive and lack optimal control, often leading to defects such as ripping the tape or damaging the object surface.
Innovation Solution
An automated system using a robot-mounted end-effector with a gripping mechanism and force sensor, controlled by a controller, to optimize peeling parameters like peel angle and velocity based on data-driven approaches.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual labor is used to remove tapes, then flexibility and adaptability are maintained, but labor intensity increases and control precision decreases
Solution Approach 1:
The patent replaces manual mechanical operations with an automated robotic system that uses sensors and control algorithms to perform tape removal. The robot system substitutes human labor with automated mechanisms including force sensors, vision systems, and controlled movement, thereby reducing labor intensity while improving peel parameter control precision through data-driven optimization.
Solution Approach 2:
The system incorporates real-time force measurement and automatic trajectory adjustment capabilities that allow the tape removal process to self-regulate. The force sensor continuously monitors peel force and the controller automatically adjusts movement parameters without human intervention, enabling the system to serve itself in maintaining optimal peel conditions throughout the process.
2Productivity
If automated systems are introduced to reduce labor, then productivity increases, but system complexity increases
Solution Approach 1:
The robotic end-effector is designed as a multi-functional device that integrates gripping mechanisms, force sensing capabilities, and controlled movement functions into a single system. This universal tool can handle various tape types and surface conditions, increasing productivity while avoiding the need for multiple separate devices that would increase overall system complexity.
Solution Approach 2:
The force sensor acts as an intermediary element between the robotic manipulator and the tape removal process. It provides real-time feedback about peel forces, enabling the controller to make precise adjustments without requiring complex direct measurement systems, thus bridging the gap between simple automation and precise control.
3Productivity
If peel force is increased to remove tape faster, then productivity improves, but risk of tape failure and surface damage increases
Solution Approach 1:
The system implements continuous feedback through force sensors that monitor peel force in real-time during tape removal. The measured force information is fed back to the controller, which adjusts peel velocity and trajectory to maintain force within safe limits. This closed-loop control enables high productivity through optimized velocities while preventing surface damage by automatically reducing speed when force thresholds are approached.
Solution Approach 2:
The patent employs dynamic adjustment of peel parameters including velocity, angle, and trajectory based on real-time force measurements. Rather than using fixed high-speed peeling, the system dynamically adapts movement parameters to match actual tape adhesion conditions, allowing maximum safe peel velocity at each moment while preventing tape failure and surface damage through continuous parameter optimization.
Data Source
AI summary
Automated systems and methods of using an end-effector mounted on a robot arm to remove a tape from an object surface are provided. The end-effector includes a gripping mechanism and a force sensor, which is instructed by a controller to automatically detect the peeling state and adjust its peeling parameters to optimize the removal while the end-effector moves along the object surface to remove the tape.