Robot Hand Belt Drive for 3D Object Posture Adjustment
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Solution Overview
Problem
Existing robot systems with robot hands struggle to change the posture of a target object in a simple configuration while gripping it, as they require complex joint configurations to achieve such movements.
Innovation Solution
A robot system with a robot hand featuring multiple finger portions, belts, and motors that allow for rotation of a target object about two axes while gripping it, enabling a control device to transition the object to a target posture by combining these rotations in a three-dimensional coordinate system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot hand uses a complex joint configuration to change the posture of a target object, then the posture change capability is improved, but the device complexity increases
Solution Approach 1:
The patent applies dimensionality change by combining rotations about two orthogonal axes (first axis and second axis) to achieve posture changes about a third axis (third axis orthogonal to both). This allows the robot hand to accomplish three-dimensional posture adjustment using only two rotational degrees of freedom, effectively resolving the contradiction between posture change capability and device complexity.
Solution Approach 2:
The robot hand design enables a universal posture change mechanism where the same two-axis rotation system can achieve multiple different target postures by varying the combination of rotations. This multi-functional capability allows a single simple configuration to replace what would traditionally require multiple specialized joints.
2Manufacturing precision
If a robot hand uses multiple belts and motors for rotation control, then the posture adjustment precision is improved, but the device complexity increases
Solution Approach 1:
The patent uses two-dimensional rotation control (about first and second axes) to achieve three-dimensional posture adjustment. By strategically combining rotations about two orthogonal axes, the system achieves precise control over the target object's orientation about a third axis, maintaining high precision while minimizing the number of actuators required.
Data Source
AI summary
A robot system includes a robot hand that includes a plurality of finger portions, a plurality of belts provided on the plurality of finger portions, and a motor for driving the plurality of belts, and a control device that controls the robot hand. The control method includes rotating, by the robot hand, a target object about a first axis on a three-dimensional coordinate axis and about a second axis different from the first axis by driving the plurality of belts in a state of gripping the target object. The control device causes the target object to transition to a target posture rotated about a third axis orthogonal to each of the first axis and the second axis by combining the rotation about the first axis and the rotation about the second axis in a case where the target object gripped by the robot hand is in the target posture.