Robot Hand Finger Shock Absorption via Pneumatic Resilient Joint

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Solution Overview

Problem

Humanoid robot finger members are prone to damage due to collisions with walls or objects due to their elongated shape and low strength, as well as their positioning at the distal end of the robot.

Innovation Solution

The finger members are designed to widen their intervals when not in use, allowing them to absorb shock through pneumatic pressure, utilizing a roll joint, actuator, cylinder, piston, and resilient member to distribute collision forces and reduce damage, while a position detecting sensor and suction part enhance grasping capabilities.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the finger members are made elongated to perform delicate operations, then the operational capability is improved, but the strength and collision resistance deteriorate

Engineering Contradiction:

Improveoperational capabilityVSAvoidfinger member strength

Core Design Contradiction:

Adaptability or versatilityVSStrength

Solution Approach 1:

A resilient member is installed between the actuator and the finger member to provide beforehand cushioning. When collision occurs, the resilient member absorbs shock energy through elastic deformation, protecting the finger member from damage while maintaining the elongated structure needed for delicate operations

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

2Measurement precision

If the intervals between finger members are reduced to improve grasping precision, then the grasping capability is improved, but the collision damage risk increases

Engineering Contradiction:

Improvegrasping precisionVSAvoidcollision damage risk

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The resilient member provides beforehand cushioning that allows finger members to be positioned closely for precise grasping while protecting them from collision damage. The cushioning effect activates only when collision occurs, maintaining both precision and safety

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

3Length of moving object

If the finger members are positioned at the distal end to improve operational reach, then the operational range is improved, but the vulnerability to collision increases

Engineering Contradiction:

Improveoperational reachVSAvoidcollision vulnerability

Core Design Contradiction:

Length of moving objectVSObject-affected harmful factors

Solution Approach 1:

The resilient member is positioned at the distal end with the finger members, providing beforehand cushioning exactly where the collision vulnerability is highest. This allows the finger members to maintain their distal positioning for operational reach while being protected by the shock-absorbing resilient member

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

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

This design effectively reduces finger member damage during collisions by distributing shock forces and allowing for precise object grasping through controlled pneumatic pressure and suction, enhancing the durability and functionality of the humanoid robot's hand.

Implementation Method 1

a resilient member to resiliently support the piston

Methodology Applied

Scientific EffectElasticity: Elasticity

Implementation Method 2

the finger members are rotated through pneumatic pressure so that intervals between adjacent finger members are changed

Methodology Applied

Scientific EffectPneumatic pressure: Pressure Increase

Data Source

PatentUS8182010B2Robot hand and humanoid robot having the same

Publication Date: 2012.05.22 SAMSUNG ELECTRONICS CO LTD

AI summary

Disclosed are a robot hand and a humanoid robot having the same. The robot hand includes a plurality of finger members and a base member to which one end of the finger members is rotatably coupled, respectively. The finger members are rotated through pneumatic pressure so that intervals between adjacent finger members are changed. If the finger members are not used, the intervals between the finger members are widened so that the finger members are prevented from being damaged when the finger members collide with walls or objects.