Multi-Finger Robot Hand Control for Slip-Free Insert Assembly
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Solution Overview
Problem
Existing robot hands with multiple finger units struggle to prevent slippage during insert operations, leading to potential damage of weakly rigid workpieces and assembly failures due to inadequate gripping force and positional deviations.
Innovation Solution
A robot hand with three or more finger units, equipped with a control unit that utilizes one or more finger units as regulation units to prevent the gripped object from moving in the opposite direction of the insertion, by employing specific regulating finger positions and force detection to manage reaction forces during insertion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If gripping force is enhanced to prevent slippage during insert operations, then slippage prevention is improved, but the gripped workpiece with weak rigidity may be damaged
Solution Approach 1:
The robot hand is divided into multiple finger units (three or more), where some fingers serve as gripping units and others as regulation units. This segmentation allows independent control of gripping force and regulatory force, enabling prevention of slippage without excessive gripping force that would damage the workpiece.
Solution Approach 2:
Regulation fingers act as intermediaries that apply counteracting force to prevent slippage in the direction opposite to insertion. These regulation units independently manage reaction forces during insertion operations, separating the functions of gripping and slippage prevention.
2Manufacturing precision
If gripping force is increased to prevent slippage, then positional deviation is reduced, but assembly failure and process interruption may occur due to workpiece damage
Solution Approach 1:
By segmenting the finger units into gripping units and regulation units, the system can independently control the regulatory fingers to maintain positional accuracy during insertion without applying excessive gripping force that would damage the workpiece and cause assembly failure.
Solution Approach 2:
The control unit monitors the positions and forces applied by each finger unit, adjusting the regulation units in real-time to prevent slippage and maintain positional accuracy during insertion operations, thereby ensuring assembly success.
3Adaptability or versatility
If multiple finger units are used for gripping, then adaptability to various workpiece types is improved, but complexity of controlling slippage during insertion increases
Solution Approach 1:
Each finger unit is equipped with independent control capabilities, allowing them to function as either gripping units or regulation units based on the specific operation requirements. This segmentation simplifies the control logic for slippage prevention during insertion while maintaining adaptability to various workpiece types.
Solution Approach 2:
The finger units are designed with multi-functionality, capable of serving as gripping units for general gripping operations and as regulation units for preventing slippage during insertion. This universal design reduces the need for additional specialized components, managing control complexity.
Data Source
AI summary
A robot hand according to the present invention controls finger units by a central processing unit (CPU) based on two or more types of gripping mode tables for different purposes when a gripping object is gripped by the finger units.