Adjustable Gripper Palm-Finger Spacing With Screw-Nut Drive
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Solution Overview
Problem
Existing grippers are limited in the types and sizes of objects they can grasp due to a fixed palm module, restricting their versatility.
Innovation Solution
A gripper design that allows adjustable intervals between the palm and finger modules through a mechanism involving a first power unit, screw member, nut member, and connection member, enabling synchronized rotation of multiple finger modules to accommodate various object sizes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the palm module is kept fixed to maintain structural stability, then the structural stability is improved, but the adaptability to grasp objects of various types and sizes deteriorates
Solution Approach 1:
The palm module is transformed from a fixed structure to a movable one through the screw-nut mechanism. The first rotary shaft rotates the screw member, which moves the nut member vertically, thereby moving the first member and connection member to adjust the interval between the palm module and finger module. This dynamic adjustment enables the gripper to adapt to objects of various sizes while maintaining structural stability during grasping operations.
2Device complexity
If the interval between palm module and finger module is fixed to simplify the structure, then the device complexity is reduced, but the adaptability to different object sizes deteriorates
Solution Approach 1:
The interval adjustment mechanism uses a screw-nut coupling system where rotation of the first rotary shaft converts to vertical motion of the nut member, which in turn moves the first member and connection member. This relatively simple mechanical mechanism enables dynamic adjustment of the palm-finger interval, providing adaptability to different object sizes without significantly increasing device complexity.
3Adaptability or versatility
If multiple finger modules are provided to increase adaptability, then the adaptability to grasp various objects is improved, but the device complexity increases
Solution Approach 1:
The first rotary shaft and screw member serve multiple functions: they control the vertical position of the nut member and first member, and simultaneously control the interval between the palm module and finger module. This multi-functional design reduces the need for separate adjustment mechanisms for each finger module, thereby reducing overall device complexity while maintaining high adaptability.
Solution Approach 2:
The connection member integrates the connection function between the first member and finger module, and simultaneously serves as part of the interval adjustment mechanism. By merging these functions into a single component, the overall number of parts is reduced, simplifying the device structure while enabling adaptability to various object sizes.
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 gripper to grasp objects of diverse types and sizes by adjusting the distance between the palm and finger modules, enhancing versatility and grasping capability.
Implementation Method 1
a screw member configured to rotate in conjunction with a rotation of the first rotary shaft, a nut member coupled to the screw member by bolt-nut coupling
Data Source
AI summary
A gripper includes a finger module coupled to one side of a palm module, the palm module including a first power unit including a first rotary shaft and configured to rotate the first rotary shaft, a screw member configured to rotate in conjunction with a rotation of the first rotary shaft, a nut member coupled to the screw member, a first member coupled to the nut member and movable in a vertical direction in conjunction with a vertical motion of the nut member, the first member having a groove extending in one direction and having a recessed shape, and a connection member having a first side coupled to the finger module and a second side inserted into the groove, wherein the connection member is movable away from or toward the screw member by restriction between the connection member and an inner surface of the groove.