Robot Hand Finger Unit Slantwise Actuator Length Reduction
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Solution Overview
Problem
Conventional finger units for robot hands face challenges due to large dimensions and limited movement capabilities, particularly when attempting cooperative tasks or varied movements with the palm, as they predominantly bend inward and require extensive joint lengths.
Innovation Solution
A finger unit configuration utilizing a first and second rotational actuator with a slantwise orientation relative to the finger linkages, employing bevel gears to convert rotational power into swiveling motion, allowing for a compact and shortened total length by positioning each rotational actuator in a slantwise manner.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If the second rotational actuator is coaxially attached to the first finger linkage, then the structure is simpler, but the length of the first finger linkage cannot be made shorter than the length of the second rotational actuator
Solution Approach 1:
The second rotational actuator is attached in a slantwise orientation rather than coaxially, changing the spatial dimension of attachment. This allows the actuator to be positioned at an angle relative to the first finger linkage, enabling the linkage length to be shortened independently of the actuator length while maintaining functional connectivity through the slantwise geometric arrangement
2Length of moving object
If conventional crank mechanisms or worm gears are used to convert rotation, then the rotational movement is achieved, but the joint part requires large dimensions
Solution Approach 1:
The patent replaces conventional mechanical transmission mechanisms (crank mechanisms, worm gears, rack and pinions) with a direct rotational actuator attachment system. The rotational actuator is directly coupled to the finger linkage through a slantwise attachment, eliminating the need for intermediate mechanical conversion mechanisms and thereby reducing the joint part dimensions while maintaining the rotational-to-swiveling motion conversion function
3Adaptability or versatility
If fingers are configured to bend only inward, then the structure is simpler, but the capability to perform cooperative tasks or varied movements is limited
Solution Approach 1:
The slantwise attachment configuration enables dynamic movement capabilities beyond simple inward bending. By positioning the second rotational actuator at an angle, the system gains the ability to perform varied movements including cooperative tasks between fingers and movements in association with the palm, transforming the static inward-bending constraint into a dynamic multi-directional movement system
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
This configuration enables a compact, high-speed finger unit with a shortened total length, facilitating more versatile and precise movements, especially in multiple-joint systems, by decoupling the length of the finger linkage from the rotational actuator length.
Implementation Method 1
a first drive-side bevel gear coaxially fixed to a distal end part of the rotational output shaft; a first driven-side bevel gear coaxially fixed to the first joint shaft and engaged with the first drive-side bevel gear
Data Source
AI summary
A finger unit of a robot hand has a first rotational actuator, a first finger joint part, a first finger linkage, a second finger joint part, and a second finger linkage that are connected in this order. A second rotational actuator is attached to the first finger linkage. The first finger linkage swivels about the first finger joint part by the first rotational actuator, and the second finger linkage swivels about the second finger joint part by the second rotational actuator. The second rotational actuator is attached to the first finger linkage so as to be in a slantwise orientation relative to a straight line connecting a center of rotation of the first finger joint part and a center of rotation of the second finger joint part. With this configuration, an axial length of the finger unit of a robot hand can be shortened.