Pneumatic Robot Hand Finger Control for Shape and Obstacle Adaptation
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Solution Overview
Problem
Conventional robot hands with flexible fingers struggle to adapt to diverse workpiece shapes and obstacles during transportation, as they rely on a single deformation mechanism that is not adaptable to various contours and may damage soft objects like food.
Innovation Solution
A robot hand controller with multiple hollow fingers that can independently open and close using air pressure, controlled by a system comprising an air supply unit and a controller, allowing for customizable deformation patterns based on workpiece shape and transport destination obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single deformation mechanism is used for robot fingers, then the structure is simple, but the adaptability to diverse workpiece shapes is poor
Solution Approach 1:
The robot hand is divided into multiple independent air passages (first air passage and second air passage), each controlling different fingers. This segmentation allows independent deformation control of finger groups, enabling adaptation to diverse workpiece shapes while maintaining manageable system complexity through modular architecture.
Solution Approach 2:
The patent implements dynamic deformation control by switching between different air passages based on workpiece characteristics. The controller selectively activates the first or second air passage depending on the shape and size of the workpiece, allowing the finger deformation pattern to dynamically adapt to different objects rather than using a fixed single mechanism.
2Adaptability or versatility
If flexible fingers are used to hold soft workpieces, then damage to the workpiece is reduced, but the ability to adapt to various contours is limited
Solution Approach 1:
Different fingers or finger groups are controlled by different air passages, allowing local variation in deformation patterns. This enables specific fingers to adapt to local contours of the workpiece while maintaining gentle contact pressure, achieving both contour adaptation and protection of soft workpieces through localized quality control.
Solution Approach 2:
The system changes the deformation parameters of fingers by controlling air pressure in different air passages. By adjusting which air passage is active and the pressure level, the fingers can modify their deformation degree and pattern to match various workpiece contours while maintaining appropriate contact force to avoid damage.
3Adaptability or versatility
If all fingers are controlled by one air passage, then the control system is simple, but the ability to avoid obstacles during transport is reduced
Solution Approach 1:
The air passage system is segmented into multiple independent passages (first and second air passages) that can be controlled separately. This allows different finger groups to be independently actuated for obstacle avoidance maneuvers during transport, enhancing adaptability while keeping each individual air passage relatively simple in structure.
Solution Approach 2:
The controller dynamically selects which air passage to activate based on transport conditions and obstacle detection. During normal transport, one air passage may be used for stable holding, while upon detecting obstacles, the system can switch to alternative deformation patterns using the other air passage, enabling dynamic obstacle avoidance without requiring complex permanent configurations.
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
Enables secure and gentle handling of variously shaped workpieces, including soft ones, by adjusting finger positions and forces to match workpiece dimensions and avoid obstacles, enhancing transportation reliability and safety.
Implementation Method 1
each of the plurality of fingers becomes an opened state and closed state by being deformed in response to an air pressure in an inside of the finger
Implementation Method 2
configured to supply air into the plurality of fingers, and configured to discharge air in the plurality of fingers
Data Source
AI summary
A robot hand controller includes an air supply unit configured to supply air into fingers of a robot hand and configured to discharge air in the fingers, and a controller configured to control the air supply unit, where the air supply unit includes two or more air passages respectively connected to the different fingers, the air passages capable of supplying the air into the fingers and discharging the air in the fingers independently from each other, and the controller controls supply and discharge of the air through each of the two or more air passages in response to a shape of the workpiece and an object in a vicinity of a transport destination of the workpiece.