Robot Hand Joint Mechanism for High Torque in Compact Space
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Solution Overview
Problem
Current robot hand finger units face challenges in achieving high drive torque without increasing the outside diameter dimensions, as existing actuators and reduction gears are either insufficient in torque or result in larger joint mechanisms due to increased dimensions.
Innovation Solution
A joint mechanism utilizing two actuators and a gear train of bevel gears, where both actuators drive the joint axle simultaneously, allowing for increased torque without expanding the joint mechanism's diameter or thickness.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a single actuator with higher torque is used, then drive torque increases, but outside diameter dimensions increase
Solution Approach 1:
The drive system is segmented into two separate actuators instead of using one large actuator. Each actuator provides partial torque, and their combined output achieves the required total torque while maintaining compact dimensions. This segmentation allows the robot hand to achieve high torque without increasing the outside diameter of individual components.
2Force
If a higher reduction ratio gear is used, then drive torque increases, but backlash increases to no less than 1°
Solution Approach 1:
Two actuators are merged to work in parallel, each providing torque through a moderate reduction ratio gear. This combination achieves the equivalent of a high reduction ratio system while maintaining lower backlash in each individual gear train, thereby improving measurement precision and control accuracy.
3Productivity
If a single actuator with higher speed and torque is used, then grasping speed and torque increase, but the actuator dimensions exceed finger unit constraints
Solution Approach 1:
The high-performance actuator requirements are segmented into two smaller actuators. Each actuator operates at high speed with moderate torque, and their combined output achieves the required total torque and speed performance while keeping individual actuator dimensions within the constraints of the finger unit structure.
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
This configuration effectively enhances drive torque without enlarging the finger units' dimensions, enabling more precise and efficient grasping and operation of robot hands.
Implementation Method 1
a first drive bevel gear that is coaxially connected to a rotational output axle of the first actuator and that meshes with the driven bevel gear, and a second drive bevel gear that is coaxially connected to a rotational output axle of the second actuator and that meshes with the driven bevel gear
Data Source
AI summary
A joint mechanism that can be used in an articulated finger unit of a robot hand has first and second actuators that are disposed facing each other from the front and back on either side of a perpendicular joint axle, and first and second drive bevel gears that are coaxially connected and fixed to distal ends of output axles thereof. A driven bevel gear fixedly mounted in coaxial manner on the perpendicular joint axle meshes with the first and second drive bevel gears. The perpendicular joint axle is rotatably driven by the two actuators, and a revolving bracket connected thereto revolves to the left and right. The drive torque of the joint axle can be increased without increasing the outside diameter dimensions of the mechanism.