Robot Hand Actuator Reduction via Auxiliary Link Interlock
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Solution Overview
Problem
Conventional robot hands with multiple joints struggle to replicate the fingertip force and bending angle of a human hand while minimizing the number of actuators, and often require multiple actuators for each joint, increasing complexity.
Innovation Solution
A robot hand design featuring a base section, first, second, and third finger links with an auxiliary link that interlocks the pivoting of the second and third finger links, and two actuators: one for the first finger link and another for the second and third links, allowing independent control and torque distribution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If an actuator is provided to each joint of the finger, then the finger can be independently bent at each joint enabling gripping and manipulation, but the number of actuators increases
Solution Approach 1:
The patent applies multi-functionality by enabling a single actuator to control multiple joints through the auxiliary link mechanism. The auxiliary link transmits motion from one actuator to multiple finger joints, allowing one actuator to perform the function of multiple actuators while maintaining independent control capability
Solution Approach 2:
The auxiliary link serves as an intermediary mechanism that transfers and distributes motion between actuators and finger joints. This mediator component enables motion transmission from a single actuator to multiple joints without requiring direct actuation at each joint
2Shape
If actuators are miniaturized to fit in each finger joint, then the robot hand can replicate human hand structure, but obtaining sufficient fingertip force and bending angle becomes difficult
Solution Approach 1:
The patent relocates actuators from the constrained three-dimensional space of individual finger joints to a two-dimensional plane at the base section. This dimensional change allows larger actuators to be positioned outside the finger structure, providing sufficient force and torque without compromising the human-like appearance of the fingers
Solution Approach 2:
The auxiliary link acts as a mechanical intermediary that amplifies and transmits force from base-mounted actuators to the finger tips. This lever-like mechanism allows small displacements at the actuator to produce larger displacements and forces at the finger joints, compensating for the increased actuator size
Data Source
AI summary
Provided is a robot hand that is capable of gripping an object and manipulating the gripped object in a manner similar to that of a human hand, and that makes it possible to reduce the number of actuators. This robot hand is provided with: a first actuator (31) that imparts driving force to a first finger link (11) so that the first finger link (11) pivots relative to a base section (1); and a second actuator (32) that imparts driving force to at least one of a second finger link (12) and a third finger link (13) so that the second finger link (12) pivots relative to the first finger link (11) and the third finger link (13) pivots relative to the second finger link (12).