Touch Sensitive Robotic Gripper with Conductive Fluid Sensors
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Solution Overview
Problem
Existing robotic gripping systems require manual positioning and closing, which is time-consuming and labor-intensive, as they can only accurately manipulate objects if they are precisely inserted into the gripper.
Innovation Solution
A touch-sensitive robotic gripper system using sensors and processors to generate a detailed understanding of the object, with a sensing cell comprising a stationary and movable electrode in a conductive fluid, allowing for precise measurement of object location and orientation, enabling automatic adjustment and grasping without manual intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual positioning and closing is used in robotic gripping systems, then the system structure is simple, but the productivity is low and labor-intensive
Solution Approach 1:
The robotic gripper autonomously positions and closes on objects using integrated touch sensors and processors that generate geographic models and determine grasp poses without human intervention. The system self-adjusts based on real-time sensor data, eliminating the need for manual positioning while maintaining relatively simple mechanical structures.
Solution Approach 2:
The system continuously monitors object contact through touch sensors during the grasping process, using this feedback to adjust the grasp pose and positioning in real-time. This closed-loop control enables automatic adaptation to object variations, improving productivity without requiring complex pre-programming or manual intervention.
2Measurement precision
If precise manual insertion is required for accurate manipulation, then the measurement precision is high, but the loss of time is significant
Solution Approach 1:
The system pre-calculates optimal grasp poses and positioning based on geographic models generated from sensor data before actual contact. This preliminary planning allows the gripper to approach and grasp objects with high precision without requiring time-consuming manual adjustment or iterative positioning.
Solution Approach 2:
The system replaces manual mechanical positioning with automated sensor-based detection and control. Touch sensors and processors substitute for human operators in determining object location and orientation, achieving high measurement precision while dramatically reducing the time required for positioning and insertion.
3Productivity
If automated sensing and adjustment is implemented, then the productivity is improved, but the device complexity increases
Solution Approach 1:
The touch sensor array serves multiple functions: detecting object presence, determining location and orientation, monitoring contact forces, and providing feedback for grasp adjustment. This multi-functionality reduces the need for separate sensors and systems, enabling automated grasping with relatively modest increases in overall system complexity.
Solution Approach 2:
The system combines touch sensors, processors for geographic model generation, and gripper actuation into an integrated autonomous grasping system. By merging these components into a unified control architecture, the system achieves high productivity through automated sensing and adjustment while managing complexity through consolidated design rather than separate independent systems.
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 precise and automatic grasping and manipulation of objects, reducing labor and time by allowing the gripper to adjust its position and orientation based on real-time sensor data, improving efficiency in assembly and manufacturing processes.
Implementation Method 1
A sensing cell comprises a stationary and movable electrode in a conductive fluid
Data Source
AI summary
Robotic grippers and robotic gripping systems are disclosed. A robotic gripper includes one or more gripping members, one or more tactile sensors on or in the one or more gripping members, and one or more processors. The one or more tactile sensors are configured to take geographic measurements of an object gripped by the one or more gripping members. The one or more processors are configured to create a numeric model of at least a portion of a surface of the object gripped by the one or more gripping members using the geographic measurements from the one or more tactile sensors. The one or more processors are also configured to adjust a location of the object gripped by the one or more gripping members by controlling the one or more gripping members based on the numeric model of the at least the portion of the surface of the object.