Robot Hand With Movable Finger Modules
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Solution Overview
Problem
Existing robot hands have fixed positions for finger modules, leading to inefficient force distribution and performance issues during gripping and tool operations, requiring separate manufacturing for left-hand and right-hand models, which complicates double arm robot driving and controller development.
Innovation Solution
A robot hand design featuring changeable finger modules with actuator modules and linkage parts that allow for adjustable positions on a palm module, enabling efficient force application and grip adaptation to various objects without interfering with the palm module.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If finger modules are fixed in position on the palm module, then the structure is simple and easy to manufacture, but the force distribution is inefficient and the robot hand cannot adapt to different gripping objects
Solution Approach 1:
The finger modules are designed to be movable relative to the palm module rather than fixed. The first and second finger modules can change their positions on the palm module through linkage mechanisms, allowing the robot hand to adapt its configuration for different gripping objects while maintaining a relatively simple overall structure.
2Adaptability or versatility
If separate left-hand and right-hand robot hands are manufactured, then the gripping performance for specific hand configurations is optimized, but the manufacturing cost increases and controller development becomes inefficient
Solution Approach 1:
The robot hand is designed with movable finger modules that can be repositioned to create different hand configurations. A single robot hand design can function as both left-hand and right-hand configurations by adjusting the positions of the first and second finger modules on the palm module, eliminating the need to manufacture separate left-hand and right-hand models.
3Productivity
If all finger modules have the same performance with fixed positions, then the manufacturing process is simplified, but the force distribution during gripping becomes inefficient
Solution Approach 1:
While all finger modules share the same basic structure and performance characteristics, the first and second finger modules are equipped with linkage mechanisms that allow them to be repositioned on the palm module. This enables optimization of force distribution for specific gripping tasks by placing fingers in appropriate positions, while maintaining manufacturing simplicity through standardization of the finger module components.
Data Source
AI summary
Provided is a robot hand. The robot hand may comprise: a palm module that provides a base surface; a first finger module provided on one side of the palm module so as to be able to change position on the palm module; a second finger module provided on the other side of the palm module so as to be able to change position on the palm module; a plurality of third finger modules provided on the palm module and fixed in one direction between the first finger module and the second finger module; and a first linkage part connecting the palm module and the first finger module. The first linkage part can guide the first finger module to a target position without interfering with the palm module when the position of the first finger module changes on the palm module.