Robot Hand With Axial Clearance For Stable Substrate Gripping
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Solution Overview
Problem
Conventional robot hands struggle to securely grip substrates due to reaction forces from the substrate, leading to instability and potential failure in gripping.
Innovation Solution
A robot hand design featuring a base body with a first contacting part and a rotary body, along with a mobile body and motion regulating part, where the rotary body has a clearance in the axial direction, allowing for regulated motion to ensure stable substrate gripping by managing reaction forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional robot hands grip the substrate, then the gripping function is performed, but the gripping stability deteriorates due to reaction force from the substrate
Solution Approach 1:
The robot hand is divided into multiple independent components: a base body, a rotary body with rotational freedom, and a mobile body with linear movement capability. This segmentation allows each component to independently absorb and manage reaction forces, preventing force transmission that would destabilize the overall hand structure during substrate gripping.
Solution Approach 2:
The rotary body is given rotational freedom around the shaft part, and the mobile body can move linearly along the shaft axis. These dynamic degrees of freedom enable the hand structure to adaptively respond to reaction forces from the substrate by allowing controlled movements, thereby maintaining gripping stability without compromising structural integrity.
2Strength
If the rotary body is tightly fitted to the shaft part, then structural rigidity is improved, but motion regulation capability deteriorates
Solution Approach 1:
A motion regulating part is introduced as an intermediary component between the rotary body and the external environment. This mediator contacts the rotary body to regulate its motion in the axial direction while allowing rotational movement, thus maintaining both structural rigidity and motion regulation capability without requiring a tight fit that would constrain both rotation and axial movement.
Solution Approach 2:
The clearance between the rotary body and shaft part creates a dynamic system where the rotary body can rotate freely while its axial motion is regulated. This dynamic configuration allows the structure to maintain rigidity for rotational support while providing the adaptability needed for motion regulation through the interaction between the rotary body and motion regulating part.
3Ease of operation
If the mobile body and rotary body are moved toward the base end, then motion regulation is improved, but the gripping position deteriorates
Solution Approach 1:
The mobile body and rotary body are pre-positioned and moved toward the base end before the actual gripping operation. This preliminary action establishes the correct initial positions and orientations of the contacting parts, ensuring that when gripping occurs, the substrate is contacted at the precise intended location. The motion regulation during this preliminary positioning enables accurate setup without compromising final gripping precision.
Solution Approach 2:
By separating the motion regulation function (handled by mobile body and rotary body movement) from the gripping function (handled by contacting parts), the system can independently optimize both aspects. The segmented structure allows the mobile and rotary bodies to move for regulation purposes without directly affecting the precision of the gripping position, as the contacting parts maintain their defined geometric relationships with the base body.
Data Source
AI summary
A robot hand includes base body defining gripping position of substrate, first contacting part provided to base body at tip-end side and configured to contact first part of edge part of substrate when substrate is gripped, rotary body provided on base-end side of base body and having second contacting part configured to contact second part of edge part of substrate when substrate is gripped, and mobile body having shaft part to be inserted into shaft hole of rotary body, and configured to move toward tip end of base body to move rotary body toward tip end of the base body. An axial-center line of shaft part extends in thickness directions of base and rotary bodies provided so as to have clearance in axial direction of shaft part with respect to shaft part.