Cable-Driven Robot Hand Module for Lightweight Durable Grasping
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Solution Overview
Problem
Existing robot hand modules are bulky and heavy due to rigid structures, and using wires to reduce size compromises durability through damage during joint rotation.
Innovation Solution
A robot hand module with a novel structure featuring a finger module and palm part, utilizing a finger cable part and driving part to operate finger phalangeal parts through rectilinear power transmission, allowing link members to rotate relative to each other, and incorporating underactuated mechanisms for efficient motion mimicry.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If hard links are used to ensure rigidity of the robot hand module, then structural strength is improved, but weight and size cannot be reduced
Solution Approach 1:
The patent replaces traditional hard link structures with flexible cable-driven mechanisms. The finger links are actuated by cables that transmit force through flexible elements, eliminating the need for rigid mechanical connections. This allows the robot hand to maintain structural integrity while significantly reducing weight and size, as cables are much lighter and more compact than rigid linkages.
Solution Approach 2:
The patent substitutes traditional mechanical linkage systems with a cable-driven actuation system. Instead of using rigid bars and joints to transmit motion, the system uses flexible cables that can be tensioned and relaxed to control finger movement. This mechanical substitution enables weight reduction while preserving the necessary structural strength for grasping operations.
2Weight of moving object
If wire is applied to reduce the weight and size of the robot hand module, then weight and size are reduced, but the wire may be damaged during joint rotation, causing deterioration in durability
Solution Approach 1:
The patent introduces guide structures and protective housings as intermediary elements between the cables and rotating joints. These intermediaries protect the cables from direct contact with rotating surfaces and prevent friction, wear, and damage during joint rotation. The guide structures ensure smooth cable routing while maintaining durability throughout the rotation cycle.
Solution Approach 2:
The patent incorporates protective measures in advance by designing cable routing paths that avoid high-stress rotation zones and by providing protective sheaths or guides before any potential damage can occur. This preventive approach ensures that cables are protected from wear and tear before actual use, extending their service life and maintaining reliability.
3Weight of moving object
If cable-driven mechanism is used to reduce weight and size, then weight and size are reduced, but friction and wear on cables during rotation may increase
Solution Approach 1:
The patent employs guide structures, pulleys, and protective housings as intermediary elements that mediate between the cables and rotating components. These intermediaries reduce direct friction by providing smooth contact surfaces and proper cable routing paths. They also prevent cable chafing against sharp edges or rotating surfaces, thereby minimizing wear and maintaining low friction during joint rotation.
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 module achieves reduced weight and size while effectively mimicking human hand motions, improving durability and power transmission efficiency.
Implementation Method 1
The first link part may include a screw member connected to the link driving part. The second link part may further include a nut member disposed on an upper portion of the screw member and coupled to the screw member by a bolt-nut engagement and a sliding member configured to be in close contact with an upper portion of the nut member, and the nut member and the sliding member may move in an upward/downward direction as the screw member is rotated by the finger link driving part.
Implementation Method 2
a finger cable part having one side connected to the finger phalangeal part, and a finger driving part connected to the other side of the finger cable part and configured to operate the finger phalangeal part by extending the finger cable part to the outside or retracting the finger cable part
Data Source
AI summary
A robot hand module includes a finger phalangeal part movably coupled to a palm part, a finger cable part having a first side connected to the finger phalangeal part, and a finger driving part connected to a second side of the finger cable part for operating the finger phalangeal part by extending the finger cable part to the outside or retracting the finger cable part, wherein the finger phalangeal part includes finger link pails including a plurality of link members and a finger link driving part for transmitting power to the finger link parts in a rectilinear direction, and wherein when the finger link pails receive the power from the finger link driving part in the rectilinear direction, some of the link members rotate relative to remaining ones of the link members, such that the finger phalangeal part rotates relative to the palm part.