Humanoid Robot End Effector Kinematics With Single-Motor Fingers
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Solution Overview
Problem
Existing humanoid robots lack a mechanical end effector that can mimic the dexterity, strength, and versatility of a human hand, while also being energy-efficient, cost-effective, and durable enough for dynamic and unpredictable work environments.
Innovation Solution
A finger assembly for a humanoid robot featuring an underactuated design with a single motor, utilizing a worm drive gear system and biasing members to achieve 16 degrees of freedom, eliminating the need for multiple actuators and cables, and incorporating modular, swappable finger assemblies aligned in a single plane with nested linkages.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple actuators and cables are used to achieve human-equivalent dexterity, then the end effector can mimic human hand movements, but the device complexity and energy consumption increase
Solution Approach 1:
The finger assembly is divided into three independent modules (proximal, medial, distal assemblies), each capable of independent actuation. This segmentation allows complex hand movements to be achieved through coordinated action of simpler modular units, reducing overall system complexity while maintaining dexterity
Solution Approach 2:
A single motor in each finger assembly actuates multiple joints through a worm drive gear system, making the motor perform multiple functions. This multi-functionality reduces the number of actuators needed while maintaining the capability to achieve human-equivalent hand movements
2Adaptability or versatility
If multiple actuators are used to achieve 16 degrees of freedom, then the end effector can perform diverse tasks, but the cost and mechanical complexity increase
Solution Approach 1:
Multiple actuation functions are merged into a single motor per finger assembly through the worm drive gear system. The single motor drives the worm drive gear, which in turn actuates multiple joints, combining multiple functions into one actuator and reducing overall system complexity
Solution Approach 2:
The finger assemblies are designed with nested linkages where the proximal, medial, and distal assemblies are interconnected through pivotable connections. This nested structure allows compact packaging of multiple degrees of freedom within each finger while maintaining independent actuation capability
3Adaptability or versatility
If a complex multi-actuator system is used, then the end effector can grasp various objects, but the energy consumption increases
Solution Approach 1:
The single motor per finger assembly performs multiple actuation functions through the worm drive gear system, reducing the total number of motors and thereby reducing overall energy consumption while maintaining the capability to grasp various objects
Solution Approach 2:
The worm drive gear system provides inherent mechanical advantage and self-locking capability, allowing the finger assembly to maintain grasping positions without continuous energy input, reducing energy consumption during static holding tasks
4Measurement precision
If multiple actuators and cables are used, then the end effector can achieve human-equivalent precision, but the mechanical complexity and serviceability worsen
Solution Approach 1:
The finger assembly is segmented into modular units that can be independently serviced and replaced. This modular architecture maintains precision by ensuring each module can be calibrated independently while simplifying maintenance through localized serviceability
Solution Approach 2:
The patent describes visual indicators (such as colored markers or alignment features) that help technicians quickly identify alignment and assembly states, improving serviceability without compromising precision by providing clear visual feedback during maintenance operations
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 end effector provides human-equivalent precision and adaptability, reducing energy consumption, cost, and mechanical complexity, enhancing durability and versatility in grasping various objects, and allowing for compact design and improved serviceability.
Implementation Method 1
a worm drive gear coupled to the motor shaft, wherein the worm drive gear has a worm drive gear axis that is coaxial with the motor shaft axis, and wherein the worm drive gear is configured for rotation with the motor shaft; a worm wheel is in geared engagement with the worm drive gear
Implementation Method 2
The finger assembly may also include a biasing member configured to bias an extent of the proximal drive link toward a first location
Data Source
AI summary
A mechanical end effector for a humanoid robot includes a plurality of identical finger assemblies. Each of the finger assemblies is removably connected to a frame. Each of the finger assemblies is fully self-contained and operable independently of every other one of the finger assemblies and independently of every other component connected to the frame. Each of the finger assemblies includes a single electric motor and is configured to be fully operable using only the single electric motor.