Robot Hand Module Cable Routing Acute Angle
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Solution Overview
Problem
Existing robot hand modules are hindered by their rigid structure, which makes it difficult to reduce weight and size, and the use of wires to achieve this results in durability issues due to damage during joint rotation.
Innovation Solution
A robot hand module with a novel structure featuring a thumb module and finger modules, each with a phalangeal part coupled to a palm part via a cable system, where the cable is extended or retracted to operate the phalangeal parts, and an acute angle is defined between the inlet region and the driving parts to reduce friction and improve durability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If hard links are used to ensure rigidity of the robot hand module, then structural strength is improved, but weight and size of the robot hand module increase
Solution Approach 1:
The patent replaces traditional hard link structures with flexible cable systems that run through hollow phalangeal parts. The cables transmit force to move the phalangeal parts, eliminating the need for rigid mechanical connections and reducing overall weight while maintaining structural integrity through the cable-tensioned design
2Weight of moving object
If wires are applied to reduce weight and size of the robot hand module, then weight and size are reduced, but durability deteriorates due to cable damage during joint rotation
Solution Approach 1:
The patent positions cable inlet regions at acute angles relative to the driving parts rather than perpendicular orientations. This angular arrangement creates a more favorable cable routing path that reduces bending radius and friction during joint rotation, thereby improving cable durability while maintaining the lightweight design
Solution Approach 2:
The hollow phalangeal parts serve as protective channels for the cables, allowing the cables to be routed through the interior space. This protective enclosure reduces direct exposure to external forces and minimizes cable damage during operation while maintaining the lightweight structure
3Device complexity
If cable inlet region is directed perpendicular to driving parts, then structural simplicity is maintained, but friction and cable bending increase reducing durability
Solution Approach 1:
The patent changes the orientation of cable inlet regions from perpendicular to acute angles relative to the driving parts. This angular configuration optimizes the cable routing path, reducing bending stresses and friction during joint rotation while adding minimal complexity to the overall structure
Data Source
AI summary
A robot hand module includes a thumb module, a plurality of finger modules, and a palm part to which the thumb module and the finger modules are coupled. The thumb module and the finger modules each include a phalangeal part movably coupled to the palm part, a cable part having a first side connected to the phalangeal part, and a driving part connected to a second side of the cable part and configured to operate the phalangeal part by extending the cable part to the outside or retracting the cable part, wherein each of the driving parts includes an inlet region from which the cable part is extended to the outside, and wherein an acute angle is defined between a first direction in which the inlet region is directed toward the outside and a second direction in which the driving parts are disposed.