Robot Hand MP Roll Pitch Joint Offset Design
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Solution Overview
Problem
Existing robot hands face challenges in isolating finger joint movements to prevent interference with other joints, minimizing friction, and achieving wide and precise control of joint angles.
Innovation Solution
A robot hand design featuring a base unit with meta phalangeal (MP) joint units that include separate MP roll and pitch joints, connected by wires to prevent joint interference, and additional interphalangeal joints with pulley systems to minimize friction and enhance control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If joint units are closely coupled to achieve compact structure, then device complexity is reduced, but movement of one joint influences other joints causing loss of independence
Solution Approach 1:
The joint unit is segmented into independently controllable roll and pitch joint units with separate actuation mechanisms. Each joint unit has its own motor and wire arrangement, allowing independent control while maintaining a compact integrated structure. The segmentation enables precise control of each degree of freedom without interference from other joints.
2Power
If wires are tightly wound on pulleys to transmit force efficiently, then power transmission is improved, but friction between wire and pulley increases
Solution Approach 1:
The patent replaces traditional mechanical belt or gear transmission systems with a wire-rope system that utilizes tension and gravity. The wires are arranged to pass over pulleys and utilize the weight of the wire itself to provide tension, eliminating the need for high-friction mechanical coupling while maintaining efficient force transmission throughout the finger structure.
3Reliability
If joint units are arranged with large offsets to prevent interference, then joint independence is improved, but the overall size of the robot hand increases
Solution Approach 1:
The patent utilizes three-dimensional spatial arrangement to position roll and pitch joint units with appropriate offsets while maintaining compact overall dimensions. The wires are routed through multiple pulleys in different spatial planes, allowing joint independence through vertical and lateral separation rather than requiring large horizontal offsets. This dimensional optimization keeps the robot hand size manageable while ensuring joint independence.
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
The design ensures independent operation of finger joints, reduces friction, and allows for wide and precise control of joint angles, stabilizing the entire system and improving gripping capabilities.
Implementation Method 1
Each of the plurality of finger structures may further include a first structure connected to the MP pitch joint unit, a second structure connected to the first structure, a third structure connected to the second structure, a proximal interphalangeal (PIP) joint unit connecting the first structure and the second structure and rotated in the pitch direction, and a distal interphalangeal (DIP) joint unit connecting the second structure and the third structure and rotated in the pitch direction.
Data Source
AI summary
A robot hand may have an improved structure so that movements of some of joints of a finger structure do not influence operations of other joints. A meta phalangeal (MP) roll joint unit rotated in a roll direction and an MP pitch joint unit rotated in a pitch direction of an MP joint unit are separately arranged to form an offset. Movable angles of the respective joint units are widened, and the joint units are precisely controlled. Overall friction within the robot hand is reduced, and a robot having the hand is stabilized.