Sensor-Tracked End Effector for Gripper Collision Avoidance
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Solution Overview
Problem
Existing end effectors and grippers face issues with finger collision when the placement surface on which an object is placed is set arbitrarily, leading to uncontrollability.
Innovation Solution
The end effector design includes a gripping claw, a support, and a surface to be detected, where the support flexibly displaces the gripping claw's position and posture upon contact with an object, and the surface is positioned to be detected by a sensor, allowing for controlled displacement and avoiding direct contact with the object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the action part protrudes to contact the object, then the gripping capability is improved, but the risk of collision with the placement surface increases
Solution Approach 1:
The patent introduces a support structure as an intermediary between the action part and the placement surface. This support provides a reference surface that mediates the interaction, allowing the action part to contact objects without directly contacting the placement surface, thereby preventing collision while maintaining gripping capability.
Solution Approach 2:
The patent replaces direct mechanical contact between the action part and placement surface with an optical detection system. A sensor detects the position of the reference surface non-contactively, substituting mechanical interaction with optical field interaction, thus eliminating collision risk while preserving operational capability.
2Adaptability or versatility
If the placement surface is set arbitrarily, then the adaptability is improved, but the finger collision problem occurs
Solution Approach 1:
The patent makes the reference surface dynamic by allowing it to be arbitrarily set on the placement surface. This dynamic configuration enables the system to adapt to different object positions and surface orientations while the sensor dynamically tracks the reference surface position, preventing collision regardless of surface configuration.
Solution Approach 2:
The reference surface serves multiple functions: it acts as a geometric reference for position detection, a collision prevention barrier, and an adaptive interface for arbitrary placement surfaces. This multi-functionality allows the system to handle diverse placement scenarios without collision.
3Measurement precision
If the surface to be detected is displaced with the action part, then the detection accuracy is improved, but the structural complexity increases
Solution Approach 1:
The patent merges the reference surface with the support structure, making them an integrated component. This combination eliminates the need for separate detection mechanisms for the support position, reducing structural complexity while maintaining detection accuracy through the displaced reference surface.
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 configuration prevents finger collision by enabling controlled displacement and stable operation of the end effector, allowing it to perform tasks such as picking and stirring objects without losing controllability.
Implementation Method 1
a surface to be detected configured not to contact the object on an other-end side opposite to the one-end side of the action part, at least one of a position and a posture of the surface to be detected being displaced together with the action part
Data Source
AI summary
An end effector is provided. The end effector comprises an operation part, a support body, and a detection surface. The operation part is configured to project toward one end, thereby coming into contact with an object. The support body is configured to flexibly support the operation part so that the position and/or orientation of the operation part is displaced when force generated due to contact between the operation part and the object is received. The detection surface is located at the other end of the operation part relative to the one end, the detection surface being configured to not come into contact with the object, and the position and/or orientation of the detection surface being displaced together with that of the operation part. In a state in which the end effector is attached to a robot arm, the detection surface is disposed so as to face a sensor that is capable of measuring the position and/or orientation of the detection surface.