Gripper Dual-Link Structure Motor Reduction
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Solution Overview
Problem
Conventional adaptive grippers with multiple finger modules are bulky and heavy due to the need for individual motors for each module, limiting their ability to achieve a lightweight and small size while also restricting the posture for gripping objects.
Innovation Solution
A gripper design that minimizes the number of motors by using a dual-link structure with a first and second link structure, where the first and second link structures are configured to reciprocate in parallel directions, allowing for flexible shape changes to accommodate objects of various sizes and shapes, with a single motor powering both finger base parts to rotate in opposite directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If individual motors are mounted on each finger module, then each finger module can be driven independently, but the volume and weight of the gripper increase
Solution Approach 1:
The patent combines multiple finger modules into a single integrated structure where one motor drives multiple fingers through a shared transmission mechanism. The motor is positioned to simultaneously rotate multiple finger modules around a common axis, eliminating the need for separate motors on each finger module while maintaining independent control capability through selective actuation of the shared motor.
2Ease of operation
If individual motors are mounted on each finger module, then each finger module can be driven independently, but the volume of the gripper increases
Solution Approach 1:
The patent merges multiple finger modules around a common rotation axis, allowing a single motor to drive all modules within a compact cylindrical arrangement. This concentric configuration significantly reduces the overall volume compared to distributing individual motors across separate finger modules, while the shared transmission mechanism enables independent control of each finger through selective engagement.
3Device complexity
If only finger module motions are controlled, then the control system is simple, but the gripping posture is restrictive
Solution Approach 1:
The patent introduces dynamic adjustability to the finger modules by enabling not only rotational motion for gripping but also tilting motion relative to the rotation axis. This dynamic capability allows the fingers to adapt their orientation and posture according to the shape and position of objects, significantly enhancing gripping versatility while maintaining relatively simple control through coordinated actuation of the shared motor and transmission mechanism.
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 gripper achieves a lightweight and compact form while enabling gripping of objects in various postures, effectively reducing the number of motors required and allowing for flexible shape adaptation to fit different object shapes and sizes.
Implementation Method 1
a first elastic member, one side of which is coupled to the (1-1)-th link and an opposite side of which is coupled to the first link module, and the first elastic member is configured such that the first support area presses the first link module in a direction that becomes farther from the (1-1)-th link
Data Source
AI summary
A gripper includes a body part, a finger base part coupled to the body part, and a finger part coupled to a first side of the body part or the finger base part and coupled to the body part or the finger base part to be reciprocal, wherein the finger part comprises a first link structure and a second link structure, sides of which are coupled to the finger base part, respectively, and wherein, in the first link structure and the second link structure, a first support area of the first link structure and a second support area of the second link structure reciprocate in only one of a plurality of directions that cross a direction in which the finger part reciprocates with respect to the finger base part.