Gripping Hand with Link Mechanisms for Irregular Objects
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Solution Overview
Problem
Existing gripping hands lack the ability to efficiently adapt to various object sizes and shapes, particularly in gripping small or irregularly shaped objects, due to limitations in finger orientation and movement flexibility.
Innovation Solution
A gripping hand design featuring a base member with swiveling fingers supported by link mechanisms that allow finger base members to move relative to the base without changing their orientation, utilizing flexible finger parts with air pressure control for deformation and grip adjustment, and a control system for precise positioning and force calculation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the base member is deformed to adapt to different object shapes, then the adaptability to various object sizes and shapes is improved, but the structural complexity and control difficulty increase
Solution Approach 1:
The base member is designed as a deformable structure that can dynamically change its shape between a regular octagonal shape and a rectangular shape. This dynamic capability allows the gripping hand to adapt to different object geometries without requiring multiple fixed-configuration grippers, thereby improving versatility while managing structural complexity through a single transformable component.
Solution Approach 2:
The base member serves multiple functions: it provides the structural foundation for finger support, enables shape transformation to match different object geometries, and acts as a platform for mounting link mechanisms. This multi-functionality reduces the need for separate components, addressing the adaptability requirement while controlling overall device complexity.
2Adaptability or versatility
If the link members are folded to approach ends for small objects, then the gripping range for small objects is improved, but the mechanism complexity increases
Solution Approach 1:
The link members are designed to be foldable, allowing them to dynamically change configuration from an extended state (for large objects) to a folded state where ends approach each other (for small objects). This dynamic reconfiguration enables the gripping hand to handle a wide range of object sizes using a single mechanism, improving adaptability while avoiding the need for multiple fixed-configuration mechanisms.
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
Enables the gripping of objects of different sizes and shapes, including small and irregularly shaped items like food, by adjusting finger positions and applying appropriate gripping forces, enhancing gripping quality and versatility.
Implementation Method 1
utilizing flexible finger parts with air pressure control for deformation and grip adjustment
Data Source
AI summary
This gripping hand has a base member and a number of fingers arranged about an axis line passing through the base member, wherein each of the fingers has a flexible finger part having flexibility and a finger base member for supporting the basal end side of the flexible finger part, the gripping hand is provided with a number of link mechanisms that are supported by the base member and that support the respective number of finger base members, and each of the link mechanisms allows the finger base member supported thereby to move relative to the base member such that the orientation of the finger base member supported thereby does not substantially change relative to the base member.