Robot Hand With Merged Gripper Actuation for Wire Harness Handling
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Solution Overview
Problem
Existing robot hands face challenges in efficiently and cost-effectively handling wire harnesses with multiple connectors, as they require multiple actuators, leading to increased weight and manufacturing costs, and struggle with automating the task of picking up and transporting wire harnesses with multiple connectors.
Innovation Solution
A robot hand with independently movable grippers, where a single gripper driving section engages multiple force transmission members to actuate each gripper, reducing the need for multiple actuators and allowing for automated handling of wire harnesses by positioning and gripping multiple connectors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple actuators are arranged to actuate multiple grippers, then the robot hand can grip multiple connectors independently, but the weight of the robot hand increases
Solution Approach 1:
Multiple actuators are merged into a single actuator that can selectively engage different force transmission members. The single actuator integrates the functionality of multiple actuators by sequentially coupling with different force transmission members through a movement mechanism, thereby reducing the overall number of actuators while maintaining the ability to independently actuate multiple grippers.
Solution Approach 2:
The single actuator is designed with multi-functionality to perform the roles of multiple actuators. It can selectively engage different force transmission members (first, second, third force transmission members) corresponding to different grippers, allowing one actuator to control multiple grippers independently through sequential engagement and disengagement.
2Adaptability or versatility
If multiple actuators are arranged to actuate multiple grippers, then the robot hand can handle wire harnesses with multiple connectors, but the manufacturing cost increases
Solution Approach 1:
Multiple actuators are merged into a single actuator system that shares common components such as the actuator body, control system, and power supply. This merging reduces the total number of parts that need to be manufactured and assembled, thereby lowering manufacturing costs while maintaining the capability to handle wire harnesses with multiple connectors.
Solution Approach 2:
The single actuator is designed as a universal component that can serve multiple functions by engaging different force transmission members. This universality reduces the need for multiple specialized actuators, simplifying the manufacturing process and reducing costs associated with producing, inventorying, and maintaining multiple actuator types.
3Weight of moving object
If a single actuator is used to actuate multiple grippers, then the weight of the robot hand is reduced, but the device complexity increases
Solution Approach 1:
Force transmission members act as intermediaries between the single actuator and multiple grippers. The actuator engages these intermediaries (force transmission members) to transmit motion to the appropriate gripper, simplifying the direct connection complexity while maintaining independent control capability through sequential engagement.
Solution Approach 2:
The system employs dynamic engagement and disengagement of the actuator with different force transmission members. The movement mechanism enables the actuator to dynamically couple with the required force transmission member based on the task requirements, allowing the system to adapt its configuration and reducing overall complexity through temporal separation of functions.
4Ease of manufacture
If a single actuator is used to actuate multiple grippers, then the manufacturing cost is reduced, but the control complexity increases
Solution Approach 1:
The system pre-arranges multiple force transmission members in specific positions corresponding to different grippers. The controller has advance knowledge of which force transmission member needs to be engaged for each gripping task, allowing it to sequentially activate the appropriate intermediate component before executing the gripping action, thereby simplifying real-time control decisions.
Solution Approach 2:
Force transmission members serve as controllable intermediaries that the controller can selectively engage. This intermediary layer simplifies control by providing discrete, manageable engagement points rather than requiring direct control of multiple independent actuators, making the control sequence more straightforward and easier to program.
Data Source
AI summary
A method of handling a wire harness that can automate a task of picking up and transporting the wire harness including a plurality of connectors and a wire member by gripping the plurality of connectors. In the method, positions of the plurality of connectors of the wire harness being placed apart from the robot hand are acquired, the robot hand is positioned such that the first connector is in the range of the first gripper based on the acquired position of the first connector, the first gripper is moved and the first connector is gripped and picked up by the first gripper, then, the robot hand is positioned such that the second connector is in the motion range of the second gripper based on the acquired position of the second connector, and the second gripper is moved and the second connector is gripped and picked up by the second gripper.