Robot Hand With Roll Joints For Flexible Precision Grasping
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Solution Overview
Problem
Current humanoid robot hands offer high flexibility but struggle with positional accuracy and stability, while industrial grippers provide precision but are limited in adapting to new objects and tools, necessitating a hybrid solution that balances flexibility and precision.
Innovation Solution
A robot hand design featuring a base part with finger connection parts connected by roll joints, links, pulleys, belts, or gears, allowing for symmetrical grasping and precise object manipulation without increasing complexity or degrees of freedom, enabling both arbitrary object handling and high-precision grasping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If humanoid hand mechanisms are designed with high degree of freedom for flexibility, then adaptability to various objects and tools is improved, but positional accuracy and grasp stability deteriorate
Solution Approach 1:
The hand is divided into modular finger units, each with independent degrees of freedom. This segmentation allows each finger to be optimized for both flexibility and precision, resolving the contradiction between adaptability and positional accuracy by enabling independent control of each segment rather than treating the hand as a monolithic structure.
Solution Approach 2:
The hand mechanism employs dynamic degree of freedom allocation where not all degrees of freedom are activated simultaneously. During precision grasping tasks, only necessary degrees of freedom are engaged, dynamically reducing the effective DOF to maintain stability and accuracy while preserving full adaptability when needed.
2Ease of operation
If humanoid hands are designed with high degree of freedom for flexibility, then ease of operation for tool use is improved, but grasp stability and stiffness deteriorate
Solution Approach 1:
The system dynamically adjusts the activation of degrees of freedom based on task requirements. For tool use requiring ease of operation, full degrees of freedom are available. For tasks requiring grasp stability, the system selectively engages only the necessary degrees of freedom, maintaining stiffness and stability while preserving operational ease when needed.
Solution Approach 2:
The control system changes the effective degrees of freedom parameter dynamically based on the task at hand. This parameter adjustment allows the hand to transition between flexible tool manipulation modes and stable grasping modes, resolving the contradiction between ease of operation and grasp stability.
3Stability of the object's composition
If industrial grippers are designed with complete symmetry for precision grasping, then grasp stability is improved, but adaptability to new objects and tools deteriorates
Solution Approach 1:
The finger modules are designed with asymmetric degrees of freedom distribution rather than complete symmetry. This asymmetric design allows each finger to have optimized characteristics for both stability and adaptability, breaking the rigid symmetry constraint of industrial grippers while maintaining grasp stability through coordinated control of the asymmetric modules.
Solution Approach 2:
The asymmetric finger modules are designed to perform multiple functions - they can provide stable grasping when coordinated together while individually offering adaptability for different object shapes and tool uses. This multi-functionality resolves the contradiction by making each module universally applicable while maintaining overall system stability.
4Adaptability or versatility
If humanoid hands are miniaturized for flexibility, then adaptability is improved, but manufacturing precision and assembly complexity worsen
Solution Approach 1:
The hand is segmented into standardized modular finger units that can be manufactured independently with consistent precision requirements. This segmentation allows each module to be manufactured to standard tolerances rather than requiring ultra-precise custom manufacturing for the entire miniaturized hand, resolving the contradiction between flexibility and manufacturing precision.
Solution Approach 2:
The design maintains flexibility by optimizing the scaling parameters of the modular units. Rather than uniformly miniaturizing all components, the parameter changes allow selective scaling that preserves functional flexibility while keeping manufacturing dimensions within achievable precision tolerances.
Data Source
AI summary
A robot hand, which has an arbitrary object grasping function in the same manner as a human hand and a high precision and stable grasping function in the same manner as an industrial gripper and performs a pose similar to a human hand while having complete opposability without any increase in complexity or degree of freedom. The robot hand includes a base part, and a plurality of finger connection parts, and a plurality of finger modules connected to the plurality of finger connection parts. The finger connection parts connected to the base part are connected to adjacent finger connection parts by roll joints such that each pair the finger connection parts connected by the roll joints is driven together, and the finger connection parts adjacent to the finger connection parts connected to the base part are driven separately from the finger connection parts connected to the base part.