Modular Link-Based Finger Mechanism for Robot Hand

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Solution Overview

Problem

Conventional robot hands face challenges in achieving three degrees of freedom with precise and accurate motion, modularization, and sensor integration due to complex tendon-based mechanisms and limited freedom in link-based mechanisms.

Innovation Solution

A link-based finger mechanism with a modular design, featuring a base, knuckles, and driving parts with linear actuators, allowing for three degrees of freedom and easy integration of sensors, while minimizing motor placement at knuckles and optimizing size and cost.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If a tendon based mechanism is used to achieve three degrees of freedom, then precise and accurate motion is performed, but the structure becomes complex and modularization becomes impossible

Engineering Contradiction:
Improvemotion precisionVSAvoidmechanism complexity
Core Design Contradiction:
Measurement precisionVSDevice complexity

Solution Approach 1:

The robot hand is divided into modular finger units, each with its own driving part. This segmentation allows the complex tendon-based mechanism to be broken down into manageable modules that can be independently controlled and assembled, reducing overall system complexity while maintaining three degrees of freedom for precise motion.

Inventive Principle:
Principle #1Segmentation

Solution Approach 2:

The patent replaces the traditional tendon-based mechanical system with a direct driving mechanism where motors are integrated into each finger unit. This substitution eliminates the need for complex tendon routing and pulley systems, achieving three degrees of freedom through direct mechanical actuation while enabling modularization.

Inventive Principle:
Principle #28Mechanics substitution (Replace mechanical system)

2Measurement precision

If a tendon based mechanism is used to achieve three degrees of freedom, then precise and accurate motion is performed, but manufacturing and maintenance become difficult

Engineering Contradiction:
Improvemotion precisionVSAvoidassembly ease
Core Design Contradiction:
Measurement precisionVSEase of manufacture

Solution Approach 1:

The robot hand is divided into modular finger units, each with its own driving part. This segmentation allows the complex tendon-based mechanism to be broken down into manageable modules that can be independently controlled and assembled, reducing overall system complexity while maintaining three degrees of freedom for precise motion.

Inventive Principle:
Principle #1Segmentation

Solution Approach 2:

The patent replaces the traditional tendon-based mechanical system with a direct driving mechanism where motors are integrated into each finger unit. This substitution eliminates the need for complex tendon routing and pulley systems, achieving three degrees of freedom through direct mechanical actuation while enabling modularization.

Inventive Principle:
Principle #28Mechanics substitution (Replace mechanical system)

3Device complexity

If motors are disposed at each knuckle in a link based mechanism, then modularization is possible, but additional sensors become hard to integrate

Engineering Contradiction:
Improvemodularization capabilityVSAvoidsensor integration capability
Core Design Contradiction:
Device complexityVSAdaptability or versatility

Solution Approach 1:

The driving part is merged with the knuckle structure to form an integrated finger unit. This merging allows sensors to be naturally integrated into the same module without requiring additional mounting space or complex wiring, while maintaining modularization capabilities for easy assembly and disassembly.

Inventive Principle:
Principle #5Merging (Combining)

4Ease of manufacture

If a link based mechanism is used to reduce motor usage, then manufacturing cost is reduced, but degrees of freedom are limited to two maximum

Engineering Contradiction:
Improvemanufacturing costVSAvoiddegrees of freedom
Core Design Contradiction:
Ease of manufactureVSAdaptability or versatility

Solution Approach 1:

The robot hand is divided into modular finger units, each with its own driving part. This segmentation allows the complex tendon-based mechanism to be broken down into manageable modules that can be independently controlled and assembled, reducing overall system complexity while maintaining three degrees of freedom for precise motion.

Inventive Principle:
Principle #1Segmentation

Solution Approach 2:

The patent replaces the traditional tendon-based mechanical system with a direct driving mechanism where motors are integrated into each finger unit. This substitution eliminates the need for complex tendon routing and pulley systems, achieving three degrees of freedom through direct mechanical actuation while enabling modularization.

Inventive Principle:
Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS12090635B2Finger mechanism and robot hand comprising same
Publication Date: 2024.09.17 KOREA INST OF MACHINERY & MATERIALS
  • US12090635B2 patent drawing
  • US12090635B2 patent drawing
  • US12090635B2 patent drawing

AI summary

In a finger mechanism and a robot hand having the finger mechanism, the finger mechanism uses a link based mechanism, and performs three degrees of freedom including two degrees of freedom of MCP joint and one degree of freedom of PIP join, via a driving part disposed at a side. The driving part is not disposed at each knuckle of the finger mechanism and additional sensors may be easily equipped, and thus modularized robot hand may be performed using the finger mechanism.