Robot Hand Finger Control Architecture for Reduced Wiring Complexity
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robot hands with multiple gripping fingers face complexity in control and cable management due to the need for multiple position detection mechanisms and centralized control units, leading to complicated structures and difficulty in accommodating cables within the robot arm.
Innovation Solution
A robot hand design with three finger portions, each equipped with independent drive mechanisms, position detection units, and drive control units, along with a distribution control unit that distributes control values from a robot hand control unit to individual drive control units, allowing for decentralized feedback control and simplified cable routing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a centralized control unit controls all drive sources, then feedback control can be performed, but the control becomes complicated and the structure becomes complex
Solution Approach 1:
The patent divides the centralized control unit into multiple distributed control units (one per finger). Each control unit independently controls its associated drive sources and performs feedback control locally. This segmentation reduces the complexity of the central control structure while maintaining feedback control capability for accurate positioning of multiple gripping fingers.
2Reliability
If multiple position detection mechanisms are mounted for each drive source, then feedback control can be performed, but the structure becomes complicated and cable management becomes difficult
Solution Approach 1:
The patent combines multiple position detection mechanisms into a single shared detection unit. This unified position detection unit detects the positions of multiple gripping fingers simultaneously, reducing the overall number of detection mechanisms required. The simplified structure makes the robot hand easier to manufacture and reduces cable management complexity.
3Adaptability or versatility
If multiple cables are connected to the control unit, then communication with respective mechanisms is enabled, but it becomes difficult to accommodate cables in the robot arm
Solution Approach 1:
The patent segments the communication system by providing each control unit with its own dedicated communication cable. This one-to-one correspondence between control units and cables simplifies cable routing, as each cable only needs to connect to a single control unit rather than managing multiple connections to a centralized unit. This makes cable accommodation in the robot arm significantly easier.
Data Source
AI summary
A robot hand is provided and includes a robot hand control unit that has at least three gripping fingers on a base and controls the robot hand, a plurality of drive mechanisms that brings the three gripping fingers independently close to or separate from each other, a plurality of drive control units that individually controls each of a plurality of drive sources of the plurality of drive mechanisms, and a distribution control unit that is disposed on the base and distributes an instruction value from the robot hand control unit to the plurality of drive control units associated with the plurality of gripping fingers. At least one of the gripping fingers includes an integrally formed drive source and drive control unit.