Robot Hand With Movable Palm For Secure Gripping
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Solution Overview
Problem
Existing robot hands face difficulties in gripping components of various sizes and shapes with sufficient force, as they rely primarily on friction between finger sections, which can lead to object shifting during assembly due to insufficient gripping force.
Innovation Solution
A robot hand design that allows adjustable distance between finger sections and incorporates a movable palm section to provide additional support from the base side, enhancing gripping force and stability by combining friction with palm contact, while maintaining a simple structure for easy control and reduced size and weight.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If finger sections are strongly pressed against the object to increase friction force, then gripping force is improved, but the surface of the object is damaged
Solution Approach 1:
The hand is divided into two functional segments: finger sections for friction-based gripping and a palm section for mechanical support. This segmentation allows each part to perform its specific function optimally without interfering with the other, resolving the contradiction between gripping force and surface protection
Solution Approach 2:
The palm section acts as an intermediary support structure that bears the load from the base side, preventing the finger sections from directly transmitting excessive forces to the object surface. This intermediary function protects the object surface while maintaining gripping capability
2Device complexity
If the robot hand uses only friction force to hold objects, then the structure remains simple, but the object shifts during assembly due to insufficient gripping force
Solution Approach 1:
The invention merges two gripping mechanisms into a single hand system: friction-based gripping by finger sections and mechanical support by the palm section. This combination provides both the simplicity of a unified structure and the reliability of multi-point contact, preventing object shifting during assembly
Solution Approach 2:
The palm section introduces a new dimension of support from the base side of the object, complementing the lateral friction force from the finger sections. This multi-dimensional approach to gripping stabilizes the object without significantly increasing structural complexity
3Device complexity
If the robot hand is designed with fixed finger section distance, then the structure is simplified, but it cannot cope with various sizes and shapes of objects
Solution Approach 1:
The finger section distance is made dynamically adjustable, allowing the hand to adapt to various object sizes. Combined with the movable palm section, this dynamic configuration enables the hand to cope with diverse objects while maintaining relatively simple overall structure through controlled degrees of freedom
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
Enables secure gripping and assembly of components with various sizes and shapes, preventing shifting during assembly and simplifying control, while reducing the risk of surface damage and improving manufacturing efficiency.
Implementation Method 1
the object is merely retained by friction force in a contact portion in a state in which the object is held between the finger sections
Data Source
Figure 1A~1B
Figure 2A~2B
Figure 3A~3C
AI summary
An aspect of the invention provides a robot hand that performs an action for gripping an object between plural finger sections (112) provided to be capable of changing a distance between the finger sections. Between the plural finger sections, a palm section (130) movable along a direction in which a base side of the plural finger sections and a distal end side of the plural finger section.