Robot system and method for estimating and calculating its friction coefficient

Robot Systems

This technology is a gripper mechanism that detects mechanical deformation of a sensor frame during object gripping using strain gauges to measure vertical reaction and sliding forces, thereby calculating the friction coefficient in real-time to control optimal gripping force.

Conventional offline testing methods fail to account for friction coefficient fluctuations caused by humidity or environmental changes, posing a risk of slippage when handling high-value items. Additionally, integrated sensor and data acquisition board designs often lead to overly complex device structures.

This technology enhances signal processing efficiency by integrating a DAQ board independent of the sensor frame within the gripper unit. It measures 3-axis forces via strain gauges in the sensor frame's sensing unit to calculate the friction coefficient and automatically adjust gripping force accordingly. Applicable to logistics picking, service robots, and manufacturing automation, it improves the accuracy and stability of handling processes by measuring sliding forces and generating friction coefficients.

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Key Features:

• A pair of gripper units, each featuring a gripper body mounted to the tool body to allow for mutual approach and separation, and equipped with a sensor frame for gripping objects.
• A terminal unit mounted within the frame body to connect to the sensing unit, which transmits signals detected by the sensing unit to a DAQ board for processing and collection.
• A sensing unit mounted within the frame body to make contact with the contact pad, designed to detect vertical reaction or sliding forces applied to the contact pad.
• A contact pad coupled to the side of the frame body where the object is gripped, which makes contact with the object during the gripping process.

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This invention was developed with support from the Ministry of Knowledge Economy for the development of safety modules with a maximum output range of 150Nm and force-torque/joint sensor technology for dual-arm working robots.