Multi-Degree-of-Freedom Bionic Dexterous Hand With Independent Phalanx Drives
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Solution Overview
Problem
Existing bionic hands have insufficient gripping force and dexterity due to limited degrees of freedom and single-function bionic fingers, primarily driven by electric motors with slave phalanges that cannot move independently.
Innovation Solution
A multi-degree-of-freedom bionic dexterous hand design incorporating a palm structure, bionic thumb, multifunctional bionic finger, and dexterous bionic finger, utilizing linear motors and spherical pairs for independent movement and rotation of phalanges, enabling multiple degrees of freedom and enhanced functionality.
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 phalanges only have slave degrees of freedom and cannot move independently, resulting in insufficient dexterity and gripping force
Solution Approach 1:
The bionic finger is segmented into multiple independent phalanges (proximal, middle, distal phalanges) that can move independently relative to each other. Each phalanx is equipped with its own drive mechanism, allowing independent control rather than moving as a single unit. This segmentation enables complex gripping motions and improves dexterity while maintaining manageable structural complexity through modular design.
Solution Approach 2:
The patent implements dynamic movement capabilities by enabling each phalanx to actively move independently through integrated drive mechanisms. The fingers transition from static or slave-driven structures to dynamically controllable segments that can adjust their positions and orientations actively, significantly enhancing dexterity and gripping force while the modular dynamic structure helps manage overall system complexity.
2Adaptability or versatility
If the phalanges are drivingly connected by tendons with only slave degrees of freedom, then the structure is simplified, but the bionic fingers cannot move in other directions and have single function
Solution Approach 1:
Each bionic finger is designed with multiple degrees of freedom and independent phalangeal movement capabilities, enabling it to perform multiple functions including grasping, manipulating objects of various shapes, and adapting to different gripping scenarios. The universal joint mechanisms allow fingers to move in multiple directions (flexion/extension, abduction/adduction, rotation), transforming single-function tendon-driven structures into multi-functional articulated fingers that can handle diverse tasks.
Solution Approach 2:
The patent replaces static tendon-driven slave phalanges with dynamically controlled independent phalanges that can actively move in multiple directions. Each phalanx incorporates drive mechanisms that enable dynamic adjustment of position and orientation, allowing the fingers to adapt their motion patterns based on task requirements. This dynamic capability provides both functional diversity and controllable movement, resolving the contradiction between versatility and ease of operation.
3Force
If five electric motors are connected to five bionic fingers respectively, then each finger can be controlled, but the gripping force and dexterity remain insufficient due to limited degrees of freedom
Solution Approach 1:
The drive system is segmented and distributed to each phalanx rather than using a single motor per finger. Each phalanx has its own drive mechanism, creating a distributed drive architecture that multiplies the total degrees of freedom. This segmentation allows independent control and force application at each phalangeal joint, significantly increasing gripping force and dexterity while the modular nature of distributed drives manages the complexity of motor integration.
Solution Approach 2:
The patent implements dynamic drive mechanisms at each phalanx that can actively generate and control forces independently. The dynamic control system coordinates multiple motors across different phalanges to produce synergistic gripping forces, enabling superior grip strength compared to simple motor-finger connections. The dynamic coordination of multiple independent drives resolves the contradiction between increased gripping force and motor integration complexity.
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 accurate control of finger movements, increased gripping force, and safety during power outages with self-locking linear motors, ensuring stable object retention and enhanced dexterity.
Implementation Method 1
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
a root linear motor, two ends of the root linear motor are hinged to the rotary disk and the palm structure, respectively, and the root linear motor is used for driving the rotary disk to rotate on the palm structure
Implementation Method 3
the root of the second phalanx structure is hinged to the palm structure through a spherical pair with pin
Data Source
AI summary
A multi-degree-of-freedom bionic dexterous hand includes a palm structure, a bionic thumb, a multifunctional bionic finger, and a dexterous bionic finger. The bionic thumb includes a first phalanx structure and a rotary disk, the rotary disk is configured to rotate on the palm structure, the first phalanx structure is hinged to the rotary disk, and the rotation axis of the rotary disk is not parallel to the rotation axis of the first phalanx structure. The multifunctional bionic finger includes a second phalanx structure, the second phalanx structure is universally hinged to the palm structure, and the second phalanx structure can perform the flexion-extension movement and the swinging movement. The dexterous bionic finger includes a third phalanx structure, the third phalanx structure is hinged to the palm structure, and the third phalanx structure can perform the flexion-extension movement.