Robot Hand Gripping Around the Workpiece Center of Gravity
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Solution Overview
Problem
The existing robot hands require multiple designs to accommodate various workpieces, leading to high production costs and storage needs due to the complexity of machining gripping portions with three-dimensional shapes, and existing solutions do not effectively address the challenge of gripping workpieces with different shapes and dimensions efficiently.
Innovation Solution
A robot hand with multiple gripping portions that can be linearly moved and adjusted based on the detected center-of-gravity position of the workpiece, allowing for optimal positioning to minimize moments and inertias, and featuring freely pivotable gripping portions with a pivoting restricting member to maintain stability and flexibility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple types of robot hands are manufactured to accommodate various workpieces, then the ability to handle different workpiece shapes and dimensions is improved, but the production cost and storage space requirements increase
Solution Approach 1:
The robot hand is designed with a universal gripping mechanism that can accommodate various workpiece shapes and dimensions through a single device. The gripping portions can be adjusted in position and orientation, allowing one robot hand to perform multiple gripping tasks that previously required multiple specialized hands, thereby reducing production costs while maintaining versatility
Solution Approach 2:
The robot hand incorporates adjustable gripping portions that can dynamically reposition themselves based on the workpiece characteristics. This dynamic adjustment capability allows the same gripping structure to adapt to different workpiece geometries, eliminating the need to manufacture multiple static gripping configurations for different workpiece types
2Adaptability or versatility
If multiple types of robot hands are manufactured to accommodate various workpieces, then the ability to handle different workpiece shapes and dimensions is improved, but the storage space requirements increase
Solution Approach 1:
By designing a universal robot hand that can handle various workpieces through adjustment mechanisms, the system eliminates the need to store multiple specialized robot hands. The single universal hand replaces numerous specialized hands, significantly reducing storage space requirements while maintaining the ability to handle diverse workpiece types
3Reliability
If gripping portions are designed with three-dimensional shapes matching workpiece shapes, then the gripping effectiveness is improved, but the manufacturing complexity and cost increase
Solution Approach 1:
Instead of manufacturing complex three-dimensional gripping portions for each workpiece type, the invention uses adjustable gripping portions that can reposition and reorient themselves. This dynamic adjustment replaces complex machining with simpler repositioning operations, reducing manufacturing complexity while maintaining effective gripping contact with various workpiece surfaces
Solution Approach 2:
The gripping mechanism is divided into multiple adjustable gripping portions that can independently position themselves. This segmentation allows each gripping portion to be simpler in design while collectively achieving effective gripping of complex workpiece shapes through coordinated adjustment, rather than requiring each portion to be a complex three-dimensional shape
4Stability of the object's composition
If gripping portions are adjusted based on center-of-gravity position, then the stability of gripping is improved, but the control complexity increases
Solution Approach 1:
The system uses center-of-gravity detection as feedback to automatically adjust gripping portion positions. By detecting the workpiece center of gravity and using this information to position gripping portions optimally, the system achieves stable gripping without requiring complex control algorithms. The feedback mechanism simplifies the control task to a straightforward detection-and-adjustment process
Data Source
AI summary
Provided is a robot hand including: gripping portions disposed with spacings between each other in a circumferential direction about an axis, and that grip a workpiece; driving portions, each of which is provided so as to correspond to one of the gripping portions, cause the corresponding gripping portions to be linearly moved in closing directions in which the gripping portions are brought close to the axis and opening directions in which the gripping portions are moved away from the axis; and a center-of-gravity detecting unit detects a center-of-gravity position of the workpiece being gripped by the gripping portions. Each of the driving portions adjust, based on the center-of-gravity position of the workpiece, the position of the corresponding gripping portion in a direction in which the center-of-gravity position is brought closer to the axis.