Bionic Dexterous Hand Structure for Stronger Multi-Axis Gripping
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Solution Overview
Problem
Existing bionic hands lack sufficient gripping force and dexterity due to limited degrees of freedom and single-function bionic fingers that cannot move independently beyond bending towards the palm.
Innovation Solution
A multi-degree-of-freedom bionic dexterous hand design incorporating a palm structure, bionic thumb, multifunctional bionic finger, and dexterous bionic finger, with linear motors and spherical pairs enabling multiple degrees of freedom and flexible movements, including flexion-extension and swinging, to enhance gripping and functional diversity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If five electric motors are equipped on the palm housing to control five bionic fingers, then the bionic fingers can achieve gripping movement, but the dexterity and gripping force are insufficient due to limited degrees of freedom
Solution Approach 1:
The bionic finger is divided into multiple independent phalanx structures (first phalanx, second phalanx, third phalanx) that can move relative to each other. Each phalanx can be controlled independently by separate linear motors, enabling multi-degree-of-freedom movement and significantly improving dexterity beyond the single-motion-capability of traditional bionic fingers
Solution Approach 2:
The patent introduces dynamic movement capabilities by allowing each phalanx to perform flexion-extension and swinging movements independently. The spherical pair connections enable dynamic multi-axis rotation, transforming the static single-function finger into a dynamic multi-functional structure that can adapt to various gripping scenarios
2Adaptability or versatility
If the phalanges are drivingly connected by tendons with only slave degrees of freedom, then the finger structure can bend toward the palm, but independent movement in other directions is not possible
Solution Approach 1:
The traditional tendon-driven mechanical connection is replaced with direct linear motor actuation for each phalanx. This substitution eliminates the passive tendon connection and provides active independent control of each phalanx, enabling precise multi-directional movement control and significantly expanding functional diversity
Solution Approach 2:
Each phalanx structure is designed with universal movement capabilities through spherical pair connections, allowing the same structural module to perform multiple functions (flexion-extension, swinging, and independent positioning). This multi-functionality enables the bionic hand to execute diverse gripping tasks with a unified control approach
3Force
If linear motors are used to drive each phalanx structure for multi-degree-of-freedom movement, then dexterity and gripping force are enhanced, but the device complexity increases
Solution Approach 1:
The drive system is segmented into multiple independent linear motors, each responsible for actuating a specific phalanx. This segmentation allows for distributed force generation across multiple joints, enabling powerful gripping force while maintaining modular architecture that simplifies control and maintenance compared to a single complex motor system
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 design achieves enhanced gripping force and dexterity with multiple degrees of freedom, allowing precise control over finger movements and ensuring object retention during power outages through self-locking mechanisms, enhancing safety and functionality.
Implementation Method 1
the bionic thumb further includes a first linear motor, two ends of the first linear motor are hinged to the rotary disk and the first phalanx structure, respectively, and the first linear motor is used for driving the first phalanx structure to perform the flexion-extension movement
Implementation Method 2
the multifunctional bionic finger further includes two second linear motors, two ends of each of the two second linear motors are universally hinged to the second phalanx structure and the palm structure, respectively
Data Source
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AI summary
Provided is a multi-degree-of-freedom bionic dexterous hand, relating to the field of robotics technologies. The multi-degree-of-freedom bionic dexterous hand includes a palm structure (1), a bionic thumb (2), a multifunctional bionic finger (3), and a dexterous bionic finger (4). The bionic thumb (2) includes a first phalanx structure (21) and a rotary disk (22), the rotary disk (22) is configured to rotate on the palm structure (1). The multifunctional bionic finger (3) includes a second phalanx structure (31), the second phalanx structure (31) is universally hinged to the palm structure (1), and the second phalanx structure (31) can perform the flexion-extension movement and the swinging movement. The dexterous bionic finger (4) includes a third phalanx structure (41), the third phalanx structure (41) is hinged to the palm structure (1), and the third phalanx structure (41) can perform the flexion-extension movement.