Sprung Worm Gripper Torque Detection
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Solution Overview
Problem
Robotic gripping devices lack efficient mechanisms to determine and control the torque applied to their fingers during object interaction, which is crucial for precise and safe operation.
Innovation Solution
A robotic gripping device is designed with a worm gear mechanism coupled to a motor and shaft, where a spring is used to detect torque by compressing or expanding when the actuator slides along an axis, allowing the control system to determine the torque applied to the finger through encoders and spring characteristics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robotic gripping device uses a motor and worm gear to actuate the finger, then the finger can be moved toward the object with controlled force, but there is no mechanism to detect or control the torque applied to the finger during object interaction
Solution Approach 1:
The spring is integrated into the existing actuator assembly, combining the torque detection function with the motor and worm gear structure. The spring works together with the carriage and actuator components already present in the system, rather than adding a completely separate sensing mechanism.
Solution Approach 2:
The spring acts as an intermediary element that translates torque applied to the finger into linear displacement of the actuator along the axis. This mechanical intermediary allows the control system to infer torque magnitude from the actuator's position, enabling torque measurement without direct sensing on the finger.
2Measurement precision
If the actuator is mounted on a fixed base, then the structure is simple and stable, but the actuator cannot slide along the axis to detect torque through spring compression
Solution Approach 1:
The actuator mounting structure transitions from a fixed base to a dynamic carriage that can slide along the axis. This dynamic mounting allows the actuator position to change in response to torque applied to the finger, enabling the spring to compress or expand and thereby providing torque detection capability.
3Reliability
If the robotic gripping device lacks torque detection, then the device structure remains simple, but unintended loads can damage the finger or object
Solution Approach 1:
The spring-compression mechanism provides continuous feedback to the control system about the torque being applied to the finger. This feedback loop allows the control system to monitor torque levels in real-time and take protective action when torque exceeds safe thresholds, preventing damage to the finger or object.
4Reliability
If the motor is unpowered, then energy consumption is reduced, but the robotic gripping device cannot maintain torque or control the finger position
Solution Approach 1:
The spring-loaded actuator system provides passive torque maintenance capability without requiring continuous motor power. When the motor is unpowered, the spring's mechanical properties and the actuator's sliding mechanism work together to maintain torque and hold the finger in position, allowing the system to serve itself without external energy input.
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 solution enables precise control and measurement of torque applied to the finger, preventing damage from unintended loads and maintaining torque when the motor is unpowered, enhancing the robotic device's operational safety and efficiency.
Implementation Method 1
a spring having a first end and a second end, wherein the first end is coupled to the motor of the actuator and the second end is fixed, such that the actuator is held in a first position along the axis when the spring is at equilibrium
Implementation Method 2
the actuator is configured to, when the finger is in contact with the object and the finger is prevented from further movement, further rotate the shaft relative to the motor to slide the actuator along the axis to a second position at which the spring is no longer at equilibrium
Implementation Method 3
a finger having a worm gear coupled to a base end of the finger. The robotic gripping device also includes an actuator having a motor and a shaft, wherein the shaft is configured to rotate a worm coupled to the worm gear
Data Source
AI summary
A robotic gripping device is provided. The device includes a finger having a worm gear coupled to its base end. The device also includes an actuator having a motor and a shaft, wherein the shaft is configured to rotate a worm coupled to the worm gear, and the actuator is mounted on a carriage such that the actuator is configured to slide along an axis. The device also includes a spring having first and second ends, wherein the first end is coupled to the motor and the second end is fixed. Further, the actuator is configured to (i) rotate the shaft relative to the motor by a first amount to move the finger toward an object, and (ii) when the finger is in contact with the object and is prevented from further movement, further rotate the shaft relative to the motor to slide the actuator along the axis.