Symmetrical Working Surface for Robot Force Sensor
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Solution Overview
Problem
Existing force/torque sensors for robots lack optimization in the positional relation between the working surface and the sensor, leading to suboptimal output correction due to environmental factors like temperature and surface material, which complicates sensor output calculations.
Innovation Solution
A detection apparatus with a symmetrical working surface and a correction processing section that assumes even force and moment distribution on both sides of detection axes, allowing for simplified output correction based on environmental conditions such as temperature and surface material.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the working surface is made symmetrical around the detection axes, then the output correction calculations are simplified, but the design flexibility and adaptability to different robot configurations are reduced
Solution Approach 1:
The patent applies asymmetry principle by making the working surface symmetrical around the detection axes, which simplifies the output correction calculations. The symmetrical design ensures that the force and moment distribution patterns are predictable and consistent, allowing for standardized correction procedures without requiring complex adaptive algorithms for each configuration.
2Measurement precision
If the sensor output is corrected for environmental factors, then the measurement precision is improved, but the device complexity and correction calculation requirements increase
Solution Approach 1:
The patent applies parameter changes by correcting the sensor output based on environmental factors such as temperature and surface material. The correction processing section adjusts the sensor readings by applying compensation parameters that account for these environmental variations, thereby maintaining measurement precision across different operating conditions without requiring overly complex correction models.
3Ease of operation
If the working surface is made symmetrical around the first detection axis, then the force distribution assumption is simplified, but the ability to handle asymmetric loading conditions is reduced
Solution Approach 1:
The patent applies segmentation by dividing the working surface into symmetrical segments around the detection axes. This segmentation allows the correction processing to handle each segment independently with standardized correction factors, simplifying the overall calculation while maintaining reliability through the systematic approach to correcting forces and moments in each segmented region.
Data Source
AI summary
There is provided a detection apparatus including a housing that includes a working surface, and a sensor configured to detect the force or the moment exerted on the working surface, on at least a first detection axis and a second detection axis. The working surface coincides with a surface that includes the first detection axis and the second detection axis, the working surface being at least partially symmetrical around the first detection axis passing through the center of the sensor.