Tactile End Effector for Fitting Objects Into Recesses
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Solution Overview
Problem
Existing robot control devices face complexity when attempting to fit an object into a recess, requiring intricate hand rotations and force sense measurements, complicating the structure and control of the robot hand.
Innovation Solution
An end effector with a tactile sensor unit and a force-receiving portion, comprising a grasping surface and a pressing surface, allows for simple fitting of objects into recesses by detecting forces and adjusting the hand's position accordingly, using a palm and fingers that can move in intersecting directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot hand uses a force sense measuring device to fit an object into a recess, then the object can be fitted into the recess, but the structure and control of the robot hand becomes complicated
Solution Approach 1:
The end effector is divided into distinct functional components: fingers for grasping, a force receiving portion for detecting contact forces, and a tactile sensor unit for measuring external forces. This segmentation allows each component to perform its specific function independently, simplifying the overall control system while maintaining the ability to fit objects into recesses
Solution Approach 2:
The force receiving portion serves multiple functions: it receives forces during grasping operations, detects contact forces when the object touches the recess edge, and provides tactile feedback for both grasping and fitting operations. This multi-functionality eliminates the need for separate sensing systems, reducing structural complexity while maintaining operational capability
2Ease of operation
If the robot hand rotates about 90 degrees to press the object with the force sense measuring device, then the object can be fitted into the recess, but the control becomes complicated
Solution Approach 1:
The force receiving portion extends in a direction intersecting the extending direction of the fingers, creating a new spatial dimension for force application. This allows the end effector to press objects into recesses without requiring 90-degree rotation of the entire hand, as the force can be applied through the extended force receiving portion while maintaining the original hand orientation
Solution Approach 2:
The force receiving portion acts as an intermediary between the fingers and the object, transferring grasping forces and providing a dedicated interface for pressing operations. This intermediary structure enables pressing functionality without requiring complex rotation control of the fingers themselves
3Productivity
If the fingers grasp the object to fit it into the recess, then the object can be positioned, but the load on the fingers increases reducing durability
Solution Approach 1:
The pressing function is extracted from the fingers and transferred to the force receiving portion. During fitting operations, the fingers maintain a gentle grasping force while the force receiving portion performs the pressing action against the recess edge, preventing excessive load on the fingers and improving their durability
Solution Approach 2:
The force receiving portion automatically engages with the recess edge when the object is positioned nearby, using the object's own geometry to guide the pressing action. This self-service mechanism reduces the need for high grasping forces from the fingers, as the system uses the environmental features (recess edge) to assist in the fitting process
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
Enables the end effector to fit objects into recesses with a simplified configuration, reducing the load on the fingers and enhancing durability by using a tactile sensor unit to guide the grasping and pressing actions.
Implementation Method 1
a tactile sensor unit capable of detecting an external force from the object being grasped
Data Source
AI summary
The end effector includes a palm, a plurality of fingers capable of grasping operation, a tactile sensor unit provided with each of the plurality of fingers, and a force receiving portion that receives a force from the object being grasped when the object being grasped is grasped by the plurality of fingers, the force receiving portion being connected to each of the plurality of fingers via the tactile sensor unit. The force receiving portion includes a grasping surface that receives a force from the object being grasped, the grasping surface being placed facing the object being grasped to be able to grasp the object being grasped, and a pressing surface that is placed further away from the palm than the second end portion of each of the plurality of fingers and extends in a direction intersecting the grasping surface.