Interlocked-Gear Robot Hand for Independent and Synchronized Gripping
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Solution Overview
Problem
Existing robot hands are unable to independently control the opening and closing of links on different sides while synchronizing the connection between them, limiting their versatility in gripping and manipulating objects.
Innovation Solution
A robot hand design featuring interlocked gears and actuators that allow independent control of links on opposite sides, enabling simultaneous or synchronized operations through a controller that can adapt gripping methods based on object recognition and stored gripping strategies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a gear mechanism is used to synchronize links on both sides, then the links operate in synchronization, but the ability to independently open or close links on different sides is lost
Solution Approach 1:
The robot hand is divided into independent control units for each side, with separate actuators (first actuator and second actuator) controlling links on opposite sides independently. This segmentation allows each side to operate autonomously while maintaining overall system functionality.
Solution Approach 2:
The control system dynamically switches between two operational modes: synchronized operation mode where both actuators operate simultaneously for coordinated movement, and independent operation mode where one actuator operates alone for asymmetric gripping. This dynamic adaptability resolves the contradiction between synchronization and independence.
2Ease of operation
If both actuators operate simultaneously, then links open and close independently, but synchronized operation of connecting links is lost
Solution Approach 1:
The robot hand system is designed with multi-functionality to perform both synchronized operations (for symmetric gripping tasks) and independent operations (for asymmetric tasks). The control unit universally manages both operational modes, making the system adaptable to various gripping scenarios.
Solution Approach 2:
The system dynamically transitions between synchronized and independent operation modes based on task requirements. The control unit activates or deactivates actuators dynamically, enabling the robot hand to switch from simultaneous operation to sequential operation as needed.
Data Source
AI summary
A robot hand is provided. The robot hand includes a first and second drive gears rotated by first actuator and second actuators; a first interlocked gear interlocked with the second drive gear to rotate in opposite directions; a second interlocked gear interlocked with the first drive gear to rotate in opposite directions; a first inner link engaged with rotation of the first drive gear; a first outer link engaged with rotation of the first interlocked gear; a first end link connected to the first inner link and the first outer link opposite the first actuator; a second inner link engaged with rotation of the second interlocked gear; a second outer link engaged with rotation of the second drive gear; and a second end link connected to the second inner link and the second outer link opposite the second actuator.