Adaptive Robot Gripper Linkage for Variable Grip Force
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Solution Overview
Problem
Existing grip devices inefficiently perform grip operations due to uniform force application regardless of object shape, leading to inefficient driving and low speed in gear or screw rotation methods.
Innovation Solution
A grip device with a hinge as a support point, adjustable through actuators, allowing for variable force transmission ratios by adjusting the gap between fingers based on object shape, using a four-bar linkage structure and actuators to move the hinge within guide slots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a gear method or screw rotation method is used to drive the grip device, then the grip device can perform grip operations, but the driving speed becomes low
Solution Approach 1:
The patent replaces traditional gear or screw rotation mechanisms with a parallel linkage mechanism driven by linear actuators. This substitution eliminates the need for complex transmission components, directly translating actuator motion into finger movement, thereby significantly increasing driving speed and grip operation efficiency.
2Adaptability or versatility
If the hinge position is fixed, then the structure is simple, but the force transmission ratio cannot be adjusted for different object shapes
Solution Approach 1:
The patent makes the hinge position dynamic by allowing it to move along guide slots in the link parts. This dynamic positioning capability enables adjustment of the force transmission ratio according to different object shapes and sizes, while the guide slots provide structured constraints that maintain reasonable structural complexity.
3Force
If the gap between fingers is fixed, then the device structure is simplified, but the grip force cannot be optimized for different object shapes
Solution Approach 1:
The patent implements dynamic gap adjustment between fingers through the movable hinge mechanism. As the hinge position changes along the guide slots, the distance between fingers is automatically adjusted, enabling optimization of grip force for different object shapes without requiring complex independent adjustment mechanisms for each finger.
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 efficient gripping of various objects by optimizing force transmission ratios and gap adjustments, enhancing grip efficiency and speed regardless of object shape.
Implementation Method 1
a hinge configured to be moved within the first guide slot and the second guide slot and connect the first link part and the second link part at an intersection of the first link part and the second link part
Implementation Method 2
a first link part including a first guide slot and configured to support the first finger; a second link part including a second guide slot, the second link part crossing the first link part and configured to support the second finger
Implementation Method 3
a first actuator configured to move at least one of the first and the second link part to adjust a gap between the first finger and the second finger; and a second actuator configured to move the hinge within the first guide slot and the second guide slot
Data Source
AI summary
A grip device is provided. A grip device according to an embodiment of the present disclosure includes: a first finger; a second finger facing the first finger; a first link part including a first guide slot and supporting the first finger; a second link part supporting the second finger and including a second guide slot, intersecting the first link part; a hinge configured to move inside the first guide slot and second guide slot and connecting the first link part and the second link part at an intersection point of the first link part and second link part; a first actuator configured to adjust a distance between the first finger and second finger by moving the first link part and/or the second link part; and a second actuator configured to move the hinge inside the first guide slot and second guide slot.