Humanoid Finger Mechanism with Integrated Knuckles
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Solution Overview
Problem
The existing humanoid finger mechanisms in robots are complex in structure and high in manufacturing cost, limiting their extensive application in fields such as medical treatment, agriculture, and new retailing.
Innovation Solution
A humanoid finger mechanism with an integrated structure, comprising a finger seat, proximal knuckle, middle knuckle, and distal knuckle, which are sequentially hinged and driven by a tension band and driving cable, simplifying the grabbing control process and reducing manufacturing costs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If traditional humanoid finger mechanism is used, then grabbing function is achieved, but structure becomes complex and manufacturing cost increases
Solution Approach 1:
The patent merges multiple separate components into integrated knuckle assemblies. Each knuckle (proximal, middle, distal) is combined with its corresponding phalanx and joint structures into unified integrated units, reducing the total component count and simplifying manufacturing while maintaining the grabbing function
Solution Approach 2:
The integrated knuckle structure serves multiple functions simultaneously: it provides structural support, enables rotational movement, houses the hinge mechanism, and connects driving cables. This multi-functionality reduces the need for separate components and lowers manufacturing complexity
2Ease of operation
If traditional humanoid finger mechanism with multiple components is used, then grabbing control is achieved, but component count increases and manufacturing cost rises
Solution Approach 1:
The patent combines multiple functional elements into integrated knuckle assemblies where each assembly includes the knuckle body, hinge mechanism, and connection points for driving cables. This merging reduces component count while preserving grabbing control functionality through the integrated hinge mechanisms
3Adaptability or versatility
If simplified integrated structure is used, then manufacturing cost decreases and universality improves, but structural complexity must be maintained
Solution Approach 1:
The integrated knuckle structure is designed as a universal component that can be applied across different finger positions (thumb, index, middle, ring, little fingers). Each knuckle assembly maintains the same fundamental structure with adaptable geometry, enabling the mechanism to handle various object sizes and types while keeping manufacturing processes standardized
Data Source
AI summary
A humanoid finger mechanism includes: a finger seat; at least one proximal knuckle, located at an outer side of the finger seat; at least one middle knuckle, located at an outer side of the at least one proximal knuckle; a distal knuckle, located at an outer side of the at least one middle knuckle; a driver, located at an inner side of the finger seat; a driving cable, wherein a first end of the driving cable is connected with the driver, while a second end of the driving cable is connected with the distal knuckle after sequentially penetrating through the finger seat, the at least one proximal knuckle and the at least one middle knuckle; and a tension band, a first end of the tension band is connected with the finger seat, while a second end of the tension band is connected with the distal knuckle.