Dual-Actuator Robot Hand for Independent Link Synchronization
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Solution Overview
Problem
Existing robot hands face the challenge of synchronizing the operation of links on one side with those on the other side, limiting the ability to independently open or close these links while maintaining synchronization with the connecting links.
Innovation Solution
A robot hand design that includes a controller to manage two actuators, allowing independent control of links on one side and the other side, with synchronized operation through the use of gears and joints, enabling independent opening or closing of links while maintaining synchronization with connecting links.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a gear mechanism operates two links on one side and two links on the other side, then the links operate in synchronization, but the mechanism cannot independently open or close the links while synchronizing the connecting links
Solution Approach 1:
The mechanism is divided into separate control systems for each side. Each actuator independently controls the links on its respective side, allowing independent opening/closing operations. The connecting links maintain synchronization through their mechanical coupling to the actuators, while the finger links gain independent control capability.
Solution Approach 2:
The mechanism transitions from a static synchronized operation to a dynamic control system where actuators can independently adjust the position and movement of links on each side. This dynamic control allows the system to adapt between synchronized motion and independent operation modes as needed.
2Adaptability or versatility
If two actuators control links independently on each side, then flexible gripping is enabled, but the complexity of controlling and synchronizing the actuators increases
Solution Approach 1:
Each actuator serves multiple functions: it controls both the connecting links and the finger links on its side. The actuators can operate independently for different gripping tasks, providing versatility while maintaining a relatively simple control architecture through their dual control capability.
Solution Approach 2:
The connecting links act as intermediaries between the actuators and the finger links. They transmit and coordinate the motion from the actuators to the finger links, enabling synchronized operation when needed while allowing independent control when the actuators operate separately.
Data Source
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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.