Modular Robotic Finger Assembly With Worm Drive Actuation
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Solution Overview
Problem
Current humanoid robots lack a mechanical end effector that can accurately mimic the dexterity, strength, and versatility of a human hand while meeting requirements for energy efficiency, cost-effectiveness, and mechanical durability in dynamic and unpredictable environments.
Innovation Solution
A mechanical end effector for humanoid robots featuring a frame with removably connected finger assemblies, each comprising a worm drive link, proximal and medial links, and a biasing member, allowing for modular, underactuated operation with a single motor per finger assembly, and lacking cables or multiple biasing members, enabling independent movement and enhanced durability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a mechanical end effector is designed to accurately mimic human hand dexterity and versatility, then the capability to perform diverse tasks is improved, but the device complexity and manufacturing cost increase
Solution Approach 1:
The end effector is divided into multiple identical finger assemblies (typically four), each capable of independent operation. This segmentation allows the system to achieve versatile grasping capabilities through combinatorial arrangements of identical modules, reducing overall design complexity while maintaining high adaptability.
Solution Approach 2:
Each finger assembly is designed as a universal module that can perform multiple functions through different combinations and configurations. The identical assemblies can work together in various patterns to achieve diverse grasping tasks, eliminating the need for specialized components for each function.
2Measurement precision
If multiple actuators and biasing members are used per finger assembly to achieve precise control, then the movement precision is improved, but the device complexity and manufacturing cost increase
Solution Approach 1:
Multiple functions are merged into a single actuator per finger assembly. The worm drive mechanism combines motor actuation, gear reduction, and positioning control in one component, eliminating the need for separate actuators and biasing members while maintaining precise movement control through the inherent mechanical properties of the worm drive.
3Ease of manufacture
If removable finger assemblies are used to enhance serviceability and reduce manufacturing complexity, then the ease of repair and manufacturing are improved, but the connection reliability may worsen
Solution Approach 1:
The finger assemblies are designed with nested structural elements that allow for easy removal and reattachment while maintaining secure connections during operation. The nesting mechanism provides both ease of assembly/disassembly for manufacturing and serviceability, and reliable mechanical interlocking during use.
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, adaptability, and robustness in diverse environments, reducing manufacturing complexity, cost, and enhancing serviceability by eliminating the need for multiple actuators and biasing members.
Implementation Method 1
a worm drive link
Implementation Method 2
worm drive link
Implementation Method 3
a biasing member
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.