6D Sensor Apparatus for Robotic Positioning
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Solution Overview
Problem
Existing tactile sensors are limited in determining the complete position of a counter body relative to a main body in robotic systems, particularly in three translational and three rotational degrees of freedom, which is crucial for precise handling and control in automated handling devices.
Innovation Solution
A 6D sensor apparatus with sensor devices on the main body and passive target areas on the counter body, utilizing a digital evaluation device to determine the relative position through sensor signals, allowing for contact-free detection and precise alignment via six independent sensors or magnetic-field sensors, enabling determination of all required dimensions for accurate positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional tactile sensors are used to detect contact, then contact detection is achieved, but complete position determination in six degrees of freedom is not possible
Solution Approach 1:
The sensor system is segmented into multiple independent sensor devices, each detecting specific target areas on the counter body. By distributing six sensors across different locations and orientations, the system divides the complex task of 6D position determination into manageable individual measurements that are later integrated by the evaluation device.
Solution Approach 2:
The system transitions from traditional single-dimensional or limited-axis tactile detection to comprehensive six-dimensional position detection. This is achieved by adding sensors that detect target areas in multiple spatial dimensions, enabling determination of three translational coordinates (x, y, z) and three rotational coordinates (α, β, γ) simultaneously.
2Loss of information
If multiple sensor devices are added to detect all six degrees of freedom, then complete position awareness is achieved, but device complexity increases
Solution Approach 1:
Each sensor device is designed with multi-functionality, capable of detecting both positional and orientational information through its detection of target areas. The evaluation device processes signals from all sensors to simultaneously determine all six degrees of freedom, making the entire system universally applicable to complete position determination tasks.
Solution Approach 2:
The evaluation device serves as an intermediary that receives raw sensor signals and transforms them into comprehensive position and orientation information. This intermediary component integrates the data from multiple sensors, performing calculations to derive all six degrees of freedom without requiring direct mechanical coupling between all sensor components.
3Reliability
If contact-free detection is used with sensors and target areas, then detection reliability is improved, but system structure becomes more complex
Solution Approach 1:
The system replaces direct mechanical contact-based tactile sensors with contact-free detection using sensor devices that detect target areas through non-contact means. This substitution eliminates wear and contamination issues associated with mechanical contact while maintaining detection capability, achieving more reliable operation in robotic handling applications.
Data Source
AI summary
A sensor apparatus includes a main body, counter body movable relative to the main body, and a plurality of sensor devices for the output of sensor signals, the sensor devices each including at least one sensor and at least one target area. The sensors are disposed on one of the bodies, and the target areas are disposed on the other body. The sensors are developed for detecting the target areas in each case. The sensor apparatus further includes an evaluation device developed to determine from the sensor signals a relative position, in three translational degrees of freedom and in three rotational degrees of freedom, between the counter body and the main body.