Segmented Displacement Sensor for Robot Arm Force Control
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Solution Overview
Problem
Current displacement measurement devices for robots lack the precision needed for advanced assembly operations, particularly in detecting forces and moments with high accuracy and minimizing hysteresis errors, which affects the reliability and precision of force control in industrial robots.
Innovation Solution
A displacement measurement device configured with a first and second structure, each equipped with sensors to detect displacement in specific directions, using Hall elements and magnets to generate electrical signals corresponding to relative positions, allowing for precise detection of six-axis forces and moments by coupling the structures via bolts to prevent positional deviation and hysteresis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a displacement measurement device uses a single structure with sensors to detect displacement in multiple directions, then the device complexity is reduced, but the measurement precision and reliability deteriorate due to hysteresis errors and positional deviation
Solution Approach 1:
The displacement measurement device is divided into two independent structures: a first structure with a first sensor for detecting displacement in a first direction, and a second structure with a second sensor for detecting displacement in a second direction. This segmentation allows each structure to specialize in detecting displacement along its specific axis, eliminating hysteresis errors that would occur in a single multi-directional structure, thereby improving measurement precision while maintaining reasonable device complexity.
2Adaptability or versatility
If a displacement measurement device uses elastic portions to couple attachment portions for detecting forces in multiple directions, then the device can detect forces in multiple directions, but hysteresis errors increase and measurement reliability decreases
Solution Approach 1:
The device uses separate first and second structures, each with its own elastic portion and sensor, to detect forces in different directions independently. This segmentation eliminates the hysteresis errors that would occur in a single elastic portion attempting to handle multi-directional forces, thereby improving reliability while maintaining the ability to detect forces in multiple directions through the combined output of both structures.
Solution Approach 2:
The first and second structures act as intermediaries that independently process force detection in different directions. Each structure serves as a dedicated mediator for its specific measurement axis, preventing the hysteresis and reliability issues that arise when a single structure must mediate multiple measurement functions simultaneously.
3Volume of moving object
If a displacement measurement device uses a compact single-structure design, then the device size is reduced, but the precision of force and moment detection deteriorates
Solution Approach 1:
The compact design achieves high precision by segmenting the measurement function into two specialized structures rather than using one large multi-functional structure. The first structure detects displacement in the first direction with high precision, and the second structure detects displacement in the second direction with high precision, allowing the overall device to maintain compact dimensions while achieving superior force and moment detection precision through the combined capabilities of both segmented structures.
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
The solution enhances the precision of displacement measurement, reduces hysteresis errors, and enables accurate detection of forces and moments, improving the reliability and precision of force control in industrial robots, while allowing for a compact and efficient design.
Implementation Method 1
a magnet is disposed at a first attachment portion and a magnetoelectric conversion element such as a Hall element is disposed at a second attachment portion
Data Source
AI summary
A displacement measurement device includes a first structure, a second structure, and a coupling portion configured to couple the first structure with the second structure. The first structure includes a first sensor configured to generate an electrical signal corresponding to displacement between a first attachment portion of the first structure and a second attachment portion of the second structure in the at least one first direction. The second structure includes a second sensor configured to generate an electrical signal corresponding to displacement between the first attachment portion and the second attachment portion in the at least one second direction.