Robot Hand Structure Optimization Using Finger Interactivity Metrics
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Solution Overview
Problem
Conventional robot hand design lacks objective criteria for determining essential factors and performance evaluation, leading to inefficient development and comparison, as existing methods rely on subjective experience and cannot identify structural issues until the robot hand is manufactured, resulting in unnecessary costs and manpower wastage.
Innovation Solution
A method to provide performance indicators for robot hands using 'interactivity of fingers' calculations, which include workspace analysis and optimization algorithms to objectively evaluate and optimize robot hand structures based on numerical values, such as finger lengths, thumb start coordinates, and joint movable ranges.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If robot hand structure is designed based on developer's experience and inspiration, then design flexibility is improved, but objective evaluation capability deteriorates
Solution Approach 1:
The patent calculates performance indicators including workspace volume, dexterity index, and opposability metrics during the design phase before manufacturing. This preliminary evaluation allows developers to objectively assess design choices and make data-driven decisions, resolving the contradiction between design flexibility and objective evaluation capability.
2Reliability
If robot hand model is manufactured before performance evaluation, then actual performance testing is improved, but development cost and time increase
Solution Approach 1:
The patent performs preliminary performance evaluation by calculating workspace volume, dexterity index, and opposability metrics from the robot hand model data before manufacturing. This allows identification and correction of structural problems in the design phase, avoiding costly rework after manufacturing and significantly reducing development time while maintaining evaluation reliability.
3Device complexity
If conventional opposability of thumb metric is used, then calculation simplicity is improved, but evaluation comprehensiveness deteriorates
Solution Approach 1:
The patent segments the performance evaluation into multiple independent metrics: workspace volume calculation, dexterity index (ratio of closed to open posture volumes), and opposability metrics (distance between thumb and finger tips). Each metric addresses specific aspects of robot hand performance, providing comprehensive evaluation while maintaining calculation simplicity through modular computation.
Data Source
AI summary
Disclosed is a method of providing performance indicators of a robot hand and a method of optimizing a structure of the robot hand, and more particularly to a method of providing performance indicators of a robot hand, in which the performance indicators are to objectively compare a plurality of robot hands with respect to performance, and a method of optimizing a structure of the robot hand, in which engineering design criteria are provided to determine essential factors in developing the structure of the robot hand.