Robot Hand Device With Inter-Finger Force Distribution
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Solution Overview
Problem
Robot hand devices with multiple actuators face a challenge in weight reduction while maintaining sufficient driving force, as reducing the size of each actuator compromises the driving force for finger mechanisms.
Innovation Solution
A robot hand device with a plurality of finger mechanisms driven by wires, where connecting members and a driving controller assist in bending operations by distributing driving forces across adjacent finger mechanisms, allowing for effective bending and extension without increasing the size of driving parts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If the actuator of each finger mechanism is made smaller to reduce weight, then the weight of the robot hand device is reduced, but the driving force for driving the finger mechanism becomes smaller
Solution Approach 1:
The patent connects adjacent finger mechanisms through connecting members (tendons) that transmit driving force between fingers. When one finger is actuated, the connecting members transfer part of the driving force to adjacent fingers, allowing multiple fingers to be driven by fewer actuators. This merging of driving functions enables weight reduction while maintaining sufficient driving force through force distribution across the finger system.
Solution Approach 2:
The connecting members serve multiple functions: they act as tendons for individual finger actuation, simultaneously serve as force transmission elements between adjacent fingers, and provide mechanical coupling that enables coordinated movement. This multi-functionality allows the system to achieve complex multi-finger control with reduced actuator count and weight.
2Force
If a large number of actuators are mounted on a robot hand device, then the driving force is sufficient, but weight reduction becomes difficult
Solution Approach 1:
The patent merges the actuation functions for multiple fingers by using connecting members that couple adjacent finger mechanisms. Instead of requiring separate actuators for each finger, the system uses shared actuators whose driving force is distributed through the connecting members to multiple fingers simultaneously, reducing the total number of actuators and overall weight.
Solution Approach 2:
The connecting members act as intermediary elements between actuators and finger mechanisms. These intermediaries transmit and distribute driving force from actuators to multiple fingers, enabling force multiplication and distribution without requiring proportionally more actuators, thus reducing weight while maintaining sufficient driving force.
3Weight of moving object
If the actuator size is reduced, then weight is reduced, but the ability to appropriately drive the finger mechanism is compromised
Solution Approach 1:
The patent combines multiple finger mechanisms into an integrated system through connecting members. This merging allows the system to achieve reliable finger actuation through coordinated movement and force distribution, compensating for the reduced capability of individual smaller actuators by leveraging the collective capability of multiple coupled fingers.
Solution Approach 2:
The connecting members create mechanical feedback loops between adjacent fingers. When one finger moves, the connecting members transmit motion and force information to adjacent fingers, enabling automatic coordination and compensation that maintains reliable driving capability even with reduced actuator size. This passive feedback mechanism ensures appropriate finger actuation without requiring complex control systems.
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 solution enables a robot hand device to appropriately drive finger mechanisms with improved weight distribution and maintained driving force, allowing for efficient operation without the need for larger or more numerous actuators.
Implementation Method 1
a connecting member that provides a connection between at least one set of the first wires among a plurality of the first wires
Implementation Method 2
a plurality of driving parts for bending that independently drives the first wire of each finger mechanism so as to bend each of the finger mechanisms
Data Source
Figure 1
Figure 2
Figure 3
AI summary
In the present invention, a multi-finger robot 1 comprises: a plurality of finger mechanisms 20, 30, 40, 50 that correspond to the index finger, middle finger, ring finger, and little finger of the human hand, and that each have bending wires for driving; a plurality of driving units 70b, 70c, 70d, 70e that independently drive the bending wires of each finger mechanism 20, 30, 40, 50 respectively, so as to bend each finger mechanism; connecting wires 61-68 that connect at least a set of the bending wires together, from among the plurality of bending wires; and a control unit 80 that controls the driving, performed by the driving units, of the bending wires of each finger mechanism. When the finger mechanism 20 and the finger mechanism 30 perform a bending operation, if the difference between the posture of the finger mechanism 20 and the posture of the finger mechanism 30 is greater than a prescribed difference, the control unit 80 causes the driving unit 70c for driving the bending wire of the finger mechanism 30 to assist the bending operation of the finger mechanism 20 via connecting wires 61, 65 that have been extended.