Modular Robot Hand with Integrated Palm Drive
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Solution Overview
Problem
Conventional tendon-driven robot hands face challenges in achieving a compact size due to larger motor and controller components, making them impractical for user applications.
Innovation Solution
A robot hand design with a high degree of freedom, featuring a palm module, finger modules, and a driving module with wire and gear driving portions, allowing for precise and detailed movements by providing 16 degrees of freedom, enabling intuitive control and user convenience.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If a tendon-driven robot hand is designed to be compact, then the size is reduced, but the motor and controller parts become too large to be mounted on the forearm for actual use
Solution Approach 1:
The robot hand is divided into modular components: a palm module containing the driving module with motors and controllers, finger modules with segmented phalanges, and a control module. This segmentation allows the driving components to be compactly integrated within the palm module, making the overall hand compact while maintaining full functionality for practical user applications.
2Device complexity
If the driving module is mounted outside the palm module on the forearm, then the robot hand structure is simpler, but it becomes difficult to apply to actual user space
Solution Approach 1:
The driving module containing motors and controllers is merged with and mounted inside the palm module, creating an integrated unit. This combination eliminates the need for external forearm mounting, making the robot hand self-contained and suitable for actual user applications while maintaining manageable internal complexity through modular design.
3Adaptability or versatility
If the robot hand has a high degree of freedom with 16 degrees of freedom, then precise and detailed movements are enabled, but the device complexity increases
Solution Approach 1:
Each finger is segmented into multiple phalanges (first, second, third segments) with individual degrees of freedom at MCP, PIP, and DIP joints. The thumb has similar segmentation. This segmentation enables 16 total degrees of freedom for precise and detailed movements while managing complexity through modular, standardized joint designs that can be controlled independently.
Data Source
AI summary
Provided is a robot hand having a high degree of freedom comprising: a palm module; a first finger module comprising a first base frame detachably coupled to the palm module and at least two first finger portions connected to the first base frame and including multiple first joints; a second finger module comprising a second base frame detachably coupled to another side of the palm module and a second finger portion connected to the second base frame and including multiple second joints; a wire driving portion mounted inside the palm module and including a driving module for operating the first finger portions and the second finger portion, the driving module providing driving power to wires connected to the multiple first and second joints; and a gear driving portion for providing driving power to gears individually connected to the first finger portions and the second finger portion for performing abduction/adduction operations.