Dual-Gripper Robot Hand for Object Reorientation and Stable Grasping
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Solution Overview
Problem
Humanoid robots struggle to efficiently grasp and manipulate objects in diverse environments due to limitations in their hand design and control methods, which affect their ability to interact safely and precisely with humans in everyday life.
Innovation Solution
A robot hand system featuring a first and second gripper, capable of recognizing object shapes, adjusting grasping orientations, and rotating to seat objects at target positions, utilizing expandable linking parts, synchronized gear chains, and hydraulic locking mechanisms for stable grasping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a traditional single gripper mechanism is used, then the structure is simple, but the robot hand cannot adapt to various shapes and orientations of objects
Solution Approach 1:
The robot hand is divided into multiple independent components: a first gripper and a second gripper, each capable of independent movement and orientation adjustment. This segmentation allows each gripper to be optimized for specific grasping tasks while maintaining overall system adaptability to various object shapes and orientations.
Solution Approach 2:
The patent implements dynamic adjustability through expandable linking parts that allow the distance between the first and second grippers to be changed. This dynamic configuration enables the robot hand to adapt its structure to match different object sizes and shapes, significantly enhancing versatility without permanent structural complexity.
2Ease of operation
If the first gripper and second gripper are moved closer together, then objects can be grasped, but the ability to rotate and reorient the object is limited
Solution Approach 1:
The patent adds rotational degrees of freedom by allowing the first gripper and second gripper to rotate relative to each other around multiple axes. This dimensional addition enables the system to perform both grasping and reorientation functions, transforming a single-function mechanism into a multi-functional tool capable of manipulating objects in various orientations.
Solution Approach 2:
The dual gripper system is designed to perform multiple functions: grasping objects of various shapes, maintaining secure hold during transport, and reorienting objects to target positions. By integrating these functions into a single coordinated system, the patent achieves multi-functionality without requiring separate mechanisms for each task.
3Adaptability or versatility
If the gripper mechanism is made more complex to handle various objects, then adaptability improves, but the reliability of stable grasping decreases
Solution Approach 1:
The patent incorporates sensors that detect the shape, size, and orientation of objects being grasped. This feedback information is used to dynamically adjust the gripper configuration, finger pressure, and linking part expansion to optimize the grasping force distribution. The closed-loop control system ensures reliable and stable grasping by continuously adapting to the actual object characteristics.
Solution Approach 2:
The system dynamically changes multiple parameters including the distance between grippers (via expandable linking parts), gripper orientation angles, and grasping force magnitude. These parameter adjustments are coordinated to match the specific geometry of the object, ensuring optimal contact points and force distribution for stable grasping of diverse objects.
Data Source
AI summary
A robot hand including a first gripper and a second gripper and a method of controlling a robot hand are provided. The method includes: recognizing a shape of an object through a camera; changing, based on the recognized shape of the object, a grasping orientation of the first gripper and the second gripper; grasping the object using the first gripper and the second gripper; and rotating the first gripper and the second gripper to change an orientation of the object according to a target position for the object to be seated.