Robot Hand Finger Segmentation for Shape Control
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Solution Overview
Problem
Robot hands with fluid-pressure-responsive fingers face challenges in maintaining a desired shape due to fluid leakage and unplanned deformations from external forces, which can lead to unsuccessful object grasping.
Innovation Solution
A robot hand design featuring a finger with a sheath comprising multiple chambers, passages for fluid communication between chambers, and recesses, along with blocks disposed within the chambers, allows for precise shape control through fluid pressure adjustments while resisting external deformations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a finger is designed with fluid-filled chambers for shape control, then the finger can change shape according to fluid pressure, but fluid leakage occurs causing unreliable shape maintenance
Solution Approach 1:
The finger is divided into multiple independent chambers (first chamber, second chamber, third chamber) separated by partition walls. Each chamber can be independently controlled by fluid pressure, allowing precise shape control while preventing fluid leakage from affecting the entire finger structure. The segmentation isolates potential leakage points to individual chambers.
Solution Approach 2:
Flexible partition walls act as intermediaries between adjacent chambers, allowing controlled fluid pressure transmission while maintaining structural integrity. The partition walls with integrated shape change amount adjustment mechanisms serve as mediators that can adjust the degree of shape change in response to fluid pressure changes, ensuring reliable shape control.
2Adaptability or versatility
If the finger structure is made flexible to allow shape changes, then the finger can adapt to different objects, but unplanned deformations occur under external forces
Solution Approach 1:
The finger structure employs dynamic elements including flexible partition walls that can adjust their shape change amounts, and adjustable support members that can dynamically respond to external forces. The support members can be positioned at different locations and adjusted to provide appropriate support strength, allowing the finger to maintain stability during object manipulation while remaining adaptable for different grasping tasks.
Solution Approach 2:
Different regions of the finger have different structural properties - some areas are more flexible to allow shape changes for adaptation, while other areas have enhanced support structures to prevent unplanned deformations. The support members are strategically positioned to provide local reinforcement where needed, and the partition walls have varying flexibility characteristics in different sections.
3Force
If the finger chambers are made larger to improve gripping capacity, then the grabbing force increases, but the finger becomes more susceptible to external deformations
Solution Approach 1:
The finger is segmented into multiple chambers (first, second, third chambers) which distributes the structural load and reduces the susceptibility to deformation. Each chamber can be optimized for its specific function while the overall segmented structure maintains stability even when individual chambers are sized for maximum gripping capacity.
Solution Approach 2:
Adjustable support members are positioned within the chambers to provide dynamic support that adapts to the chamber size and external forces. These support members can be adjusted to provide appropriate reinforcement to larger chambers, preventing deformation while maintaining the increased gripping capacity that larger chambers provide.
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 robot hand effectively maintains the desired finger shape for reliable object grasping, preventing fluid leakage and unplanned deformations, thereby ensuring consistent grasping performance.
Implementation Method 1
curing the resin
Implementation Method 2
the shape of the finger changes in accordance with the fluid pressure
Data Source
Figure 1~2
Figure 3~4
Figure 5~6
AI summary
This robot hand comprises at least one finger. The finger comprises: a sheath that includes multiple chambers, passages that each connect adjacent ones of the chambers, and recesses each arranged between adjacent ones of the chambers; and a plurality of blocks that are disposed within the chambers.