Adjustable-Palm Robotic Hand for Left- and Right-Hand Grasping

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Solution Overview

Problem

Conventional robotic hands are typically configured for a single size or orientation, requiring different types for various use applications, which increases costs and decreases versatility.

Innovation Solution

A robotic hand with a palm frame and articulating fingers, featuring linear and rotational actuators, allowing for adjustable size and orientation to accommodate different shapes and sizes, and capable of bi-directional grasping as either a left or right hand.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If conventional robotic hands are configured for a single size or orientation, then the structure is simple and cost-effective, but the versatility and adaptability to different use scenarios are reduced

Engineering Contradiction:

Improveadaptability to different sizes and orientationsVSAvoidstructural complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The robotic hand employs dynamic components including linear actuators that can extend and retract to change palm size, and rotational actuators that can adjust finger and palm orientation. This dynamic capability allows a single hand structure to adapt to multiple sizes and orientations, resolving the contradiction between versatility and complexity by making the structure changeable rather than fixed

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The invention changes physical parameters of the robotic hand through actuation mechanisms. The linear actuators modify the physical dimension (size) of the palm by extending or retracting, while rotational actuators change the angular parameters (orientation) of the palm and fingers. These parameter changes enable the same hardware to serve multiple configurations, addressing the versatility-complexity tradeoff

Inventive Principle:

Principle #35Parameter changes

2Productivity

If different types of robotic hands are used for different use applications, then the grasping performance for specific objects is optimized, but the cost increases and versatility decreases

Engineering Contradiction:

Improvegrasping performanceVSAvoidversatility across applications

Core Design Contradiction:

ProductivityVSAdaptability or versatility

Solution Approach 1:

The robotic hand is designed as a universal device that can perform multiple grasping functions through its adjustable palm size and orientation capabilities. By incorporating linear actuators for size adjustment and rotational actuators for orientation change, a single hand design can replace multiple specialized hands, improving both versatility and cost-effectiveness while maintaining grasping performance across different applications

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Adaptability or versatility

If a robotic hand is designed to adapt to both left hand and right hand orientations, then the versatility is improved, but the device complexity and control difficulty increase

Engineering Contradiction:

Improvebi-directional grasping capabilityVSAvoidcontrol difficulty

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The robotic hand achieves bi-directional capability through dynamic reconfiguration of the palm orientation using rotational actuators. The palm can rotate to present different orientations, allowing the same physical hand to function as either left or right hand depending on the rotational position. This dynamic approach simplifies control compared to having separate fixed hands, as a single control system can switch between modes by actuating the rotational joints

Inventive Principle:

Principle #15Dynamics

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

The robotic hand provides a universal solution that adapts to diverse use scenarios, enhancing grasping stability and versatility by adjusting size and orientation, suitable for both left and right hand configurations.

Implementation Method 1

a first linear actuator having a first component and a second component that is linearly shiftable relative to the first component along a first actuation axis, a second linear actuator having a third component and a fourth component that is linearly shiftable relative to the first component along a second actuation axis, a third linear actuator having a fifth component and a sixth component that is linearly shiftable relative to the first component along a third actuation axis

Methodology Applied

Scientific EffectLinear actuation: Linear Motor

Implementation Method 2

the second component is rotatably connected to the third component about a first rotational axis, the fourth component is rotatably connected to the fifth component about a second rotational axis, the sixth component is rotatably connected to the first end of the link about a third rotational axis, and the second end of the link is rotatably connected to the first component about a fourth rotational axis

Methodology Applied

Scientific EffectRotational actuation: Gear

Data Source

PatentUS20250319613A1Robotic hands and methods of using a robotic hand

Publication Date: 2025.10.16 PURDUE RES FOUND

AI summary

Robotic hands and methods of using a robotic hand. Such a robotic hand has a palm frame that defines a palm plane and a plurality of articulating fingers carried by the palm frame. The size and orientation of the palm frame may be adjusted within the palm plane. The articulating fingers can articulate toward both opposite sides of the palm plane such that the robotic hand can be oriented in either a right hand configuration or a left hand configuration.