Robot Hand Control System for Stable Object Grasping
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Solution Overview
Problem
Existing robot hand systems face challenges in ensuring a stable grasp of objects due to inappropriate load distribution and pressure application, leading to unstable contact between the object and the palm and finger mechanisms.
Innovation Solution
A control system for a robot hand that includes two arithmetic processors to measure the load center and applied load on the palm and adjust finger pressure, ensuring the load center is within a target area and the load is within a target range, thereby stabilizing the grasp by adjusting the position and pressure of the finger mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the finger mechanisms move to press the object against the palm portion, then the object is held between the finger mechanisms and the palm portion, but the load distribution on the palm portion becomes excessively uneven and the load center position becomes inappropriate
Solution Approach 1:
The control system continuously monitors the load center position and load magnitude through sensors on the palm portion, comparing real-time measurements against target values. When deviations are detected, the system automatically adjusts finger mechanism positions and pressures to correct the load distribution, ensuring the load center remains within the target area and the load stays within the target range.
Solution Approach 2:
The system dynamically adjusts the finger mechanisms' contact forces and positions based on real-time load measurements. Rather than maintaining fixed pressures, the control system continuously adapts finger pressures to compensate for variations in object weight, shape, and contact geometry, ensuring optimal load distribution across the palm portion throughout the grasping process.
2Reliability
If the finger mechanisms apply sufficient pressure to hold the object, then the grasp becomes secure, but the load center position may deviate from the target area causing inappropriate load distribution
Solution Approach 1:
The control system independently manages the loading function across multiple segmented finger mechanisms. Each finger mechanism can be adjusted individually to contribute to the overall load, allowing the system to distribute forces from different fingers to achieve both secure grasping and appropriate load center positioning simultaneously.
Solution Approach 2:
The system changes multiple parameters including finger pressure magnitude, finger contact position, and finger mechanism angle to achieve the desired grasp. By coordinating adjustments across these parameters, the system maintains the load center within the target area while applying sufficient pressure for secure object holding.
3Manufacturing precision
If the palm portion contacts the object at the central position, then the initial contact is proper, but subsequent finger movements may cause the object to be pressed against the palm in an inappropriate manner
Solution Approach 1:
The control system performs preliminary positioning of the palm portion at the optimal contact position before engaging the finger mechanisms. This preliminary action establishes a proper foundation, and subsequent finger movements are coordinated to maintain the load center within the target area while achieving secure grasping, preventing inappropriate load distribution.
Data Source
AI summary
A system is capable of controlling the movements of a hand so as to ensure a further stable grasp of an object. In a state wherein an object is in contact with a plurality of finger mechanisms and a palm portion by being grasped by the hand, the load to be applied to the object from each of the plurality of finger mechanisms can be adjusted. Thus, the position of the load center on the palm portion can be displaced so as to be included in a target palm area. Further, the load to be applied to the palm portion can be adjusted so as to fall within a target load range.