Modular Multi-Finger Manipulator With Reconfigurable Joint Angles
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Solution Overview
Problem
Traditional robot manipulators lack flexibility and adaptability, requiring extensive reconfiguration and resource-intensive adjustments to handle diverse tasks and market changes, limiting their applicability in customized production and efficient manufacturing.
Innovation Solution
A modular dexterous multi-fingered manipulator system with reconfigurable joint angles, utilizing a variable transmission unit with a magnetic attraction module and spline mechanism, allows independent adjustment of joint angles using a single electric motor, enabling flexible adaptation to various objects and environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional robot manipulators use fixed mechanical structures and control systems, then system stability is maintained, but flexibility and adaptability to diverse tasks are reduced
Solution Approach 1:
The manipulator system is divided into modular functional units including interchangeable end effectors, segmented robotic arms, and modular control modules. Each module can be independently replaced or reconfigured to adapt to different tasks without requiring complete system redesign, thus improving adaptability while managing complexity through standardized interfaces.
Solution Approach 2:
The control system transitions from fixed to dynamic reconfigurability, allowing real-time adjustment of control parameters, communication protocols, and task allocation strategies. The system can dynamically reassign tasks between multiple manipulators and adjust control modes based on task requirements, enhancing adaptability while maintaining operational stability through controlled transition protocols.
2Productivity
If traditional manipulators are designed for specific products, then manufacturing precision for those products is optimized, but productivity for diverse products is reduced
Solution Approach 1:
The manipulator system incorporates universal end effectors with adjustable grippers, interchangeable tool modules, and adaptable sensing systems that can handle multiple product types and task categories. Standardized mounting interfaces and parameterized control algorithms enable quick reconfiguration between different manufacturing tasks while maintaining precision through adaptive calibration routines.
Solution Approach 2:
The system utilizes programmable control parameters, adjustable mechanical configurations, and reconfigurable tooling parameters to adapt to different product specifications. Through parameter optimization and adaptive control algorithms, the manipulator maintains manufacturing precision across diverse tasks by dynamically adjusting operational parameters based on task requirements and sensor feedback.
3Adaptability or versatility
If manipulator systems undergo large-scale adjustments for new products, then adaptability to new tasks is improved, but loss of time and resources is increased
Solution Approach 1:
The system employs pre-configured tool modules, pre-programmed task sequences, and pre-calibrated parameter sets for common manufacturing tasks. When a new task is assigned, the system selects from pre-prepared configuration options and performs rapid parameter loading rather than complete reconfiguration, significantly reducing adaptation time while maintaining task-specific precision.
Solution Approach 2:
The manipulator system utilizes digital twins, virtual commissioning environments, and stored configuration templates to replicate successful task setups. By copying and adapting proven configurations rather than developing new ones from scratch, the system rapidly adapts to new tasks while minimizing reconfiguration time and resource consumption through virtual validation and parameter inheritance.
4Ease of operation
If traditional systems use multiple driving units for each joint, then control precision is improved, but device complexity and weight are increased
Solution Approach 1:
The system merges multiple driving functions into integrated modular actuators that combine motor, gearbox, encoder, and control electronics into unified units. This consolidation maintains control precision through coordinated control of merged components while reducing overall system complexity by eliminating redundant mounting structures, wiring harnesses, and control channels associated with separate driving units.
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
Enhances flexibility and adaptability, reduces maintenance costs, and expands application range by allowing independent angle adjustment of joints, improving production efficiency and safety in handling diverse tasks.
Implementation Method 1
a magnetic attraction module configured to control the spline module to move between a first end and a second end along the first connecting rod, so that the spline module engages with the first end or the second end
Data Source
AI summary
A modular dexterous multi-fingered manipulator system with reconfigurable joint angles and a design method therefor are disclosed. Each finger has an independent control transmission assembly, and includes an electric motor, a variable transmission unit, a metacarpophalangeal joint driving unit, and an interphalangeal joint driving unit. The variable transmission unit is connected to an output end of the electric motor, the metacarpophalangeal joint driving unit, and the interphalangeal joint driving unit separately, and the variable transmission unit switches a state to control an output force of the electric motor to be transmitted to the metacarpophalangeal joint driving unit such that angle adjustment of a first knuckle is implemented, or transmitted to the interphalangeal joint driving unit such that angle adjustment of a second knuckle is implemented.