Robot Hand With Distributed Drive And Elastic Link Modules
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Solution Overview
Problem
Existing robot hands face challenges in precise control and miniaturization due to the size and weight increase caused by motors attached to each joint, and the use of tendon-type devices can lead to loosening issues and require additional sensors for accurate positioning.
Innovation Solution
A robot hand design featuring finger modules with link structures and elastic members, driven by servo motors, which allow for independent operation and natural motion, reducing the number of components and enabling precise control through cooperative operation of links and wires.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If motors are directly attached to each joint for high power transmission and durability, then reliability is improved, but the size and weight of the robot hand increase
Solution Approach 1:
The robot hand is divided into multiple independent finger modules, each capable of operation. The drive units are segmented and distributed to specific brackets rather than centralized, reducing the weight concentration and allowing for a lighter overall structure while maintaining reliability through distributed drive mechanisms.
Solution Approach 2:
Wires act as intermediaries to transmit driving force from the drive units to the finger modules, replacing direct motor attachment at each joint. This intermediary mechanism reduces the weight of moving components while maintaining power transmission capability and durability through the wire-based tendon system.
2Volume of moving object
If tendon type devices using wires are used for miniaturization, then the size is reduced, but the wire may loosen and precise control becomes difficult
Solution Approach 1:
The finger modules are designed to tilt dynamically to grip objects, and the wires are configured to maintain tension and prevent loosening during operation. The dynamic configuration allows the system to adapt to different grip positions while maintaining control precision through the elastic members that compensate for wire slack.
Solution Approach 2:
The elastic members change their mechanical parameters (elastic force) based on the position and load conditions, automatically compensating for wire loosening and maintaining precise control. The system adjusts the effective stiffness and tension parameters to ensure accurate positioning throughout the range of motion.
3Ease of operation
If dampers and springs are installed for finger operation, then the operation capability is improved, but the exact position estimation becomes difficult requiring additional sensors
Solution Approach 1:
The elastic members provide inherent feedback through their elastic force characteristics, allowing the control system to estimate finger position based on the force-state relationship. This passive feedback mechanism eliminates the need for additional active sensors while maintaining measurement precision through the physical properties of the elastic components.
4Adaptability or versatility
If motors are attached to each joint for simple operations, then basic functions are achieved, but the size and weight increase and precise operations cannot be performed
Solution Approach 1:
Each finger module is designed as a universal unit that can perform multiple functions (gripping, tilting, positioning) through coordinated operation. The modular design allows the same basic structure to adapt to different operation requirements, providing versatility without requiring additional heavy components for each function.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The design enables accurate and precise control of finger movements, mimicking human hand motion, reducing manufacturing costs and complexity while allowing for quick restoration of the finger module's original state for precise positioning.
Implementation Method 1
elastic members connectively provided between the first link and the second link, between the second link and the third link, and between the third link and the fourth link so as to allow the first link, the second link, the third link, and the fourth link to cooperatively operate, the elastic members being configured to elastically support the first link, the second link, the third link, and the fourth link at predetermined angles
Data Source
AI summary
Disclosed is a robot hand comprising a base, a first bracket provided on an upper portion of the base, a second bracket provided on an upper portion of the base and configured such that the other side of the second bracket is rotatable in a horizontal direction about one side of the second bracket, a plurality of finger modules coupled to upper portions of the first and second brackets, respectively, and configured to tilt in order to grip an object, finger drive units installed on the first and second brackets and configured to transmit driving power to the finger modules and a rotation drive unit installed at one side of the second bracket and configured to transmit driving power so that the other side of the second bracket is rotatable in the horizontal direction about one side of the second bracket.