Robot Hand Segmented Finger Mechanism for Mode Transition

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Solution Overview

Problem

The existing robot hand with an inferior drive mechanism lacks usability improvements, particularly in efficiently transitioning between modes and gripping objects effectively.

Innovation Solution

The robot hand incorporates a configuration with a first finger member, intermediate member, and second finger member, connected via guide members with followers, allowing for coordinated rotation and movement along a straight line, enabling efficient mode transitions and gripping operations through a rack-and-pinion mechanism and elastic stopper assistance.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Device complexity

If an inferior drive mechanism is adopted to move a large number of joints with a small number of actuators, then the configuration of the robot hand becomes simple, but the usability is insufficient

Engineering Contradiction:

Improveconfiguration simplicityVSAvoidusability

Core Design Contradiction:

Device complexityVSEase of operation

Solution Approach 1:

The robot hand employs a dynamic mechanism where the intermediate member rotates relative to the first finger member, and the second finger member rotates relative to the intermediate member. This dynamic configuration allows the system to transition between different operational modes (gripping mode, release mode, narrow gap mode) while maintaining a simple overall structure with fewer actuators.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The intermediate member serves as a mediator between the first finger member and the second finger member. It transmits motion and force between these components, enabling coordinated movement and mode transitions. The intermediate member's rotatable connection allows it to adapt its orientation, facilitating both gripping operations and transitions to narrow gap configurations.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Device complexity

If the robot hand uses a simple drive mechanism with fewer actuators, then the structure is simplified, but the ability to transition between modes and grip objects effectively is reduced

Engineering Contradiction:

Improveactuator quantityVSAvoidmode transition efficiency

Core Design Contradiction:

Device complexityVSProductivity

Solution Approach 1:

The robot hand is segmented into multiple independently rotatable components: the first finger member, the intermediate member, and the second finger member. Each segment can rotate relative to the others, allowing the system to achieve complex motions and mode transitions through coordinated rotation of these segmented parts, thereby improving productivity without increasing actuator quantity.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system utilizes dynamic rotation of the intermediate member and second finger member to efficiently transition between different operational modes. The rotatable connections enable the hand to adapt its configuration rapidly, improving mode transition efficiency while maintaining a simple actuator setup.

Inventive Principle:

Principle #15Dynamics

3Device complexity

If the robot hand adopts a simple finger structure, then the configuration is simplified, but the precision and robustness of object interaction is insufficient

Engineering Contradiction:

Improvefinger structure complexityVSAvoidgripping precision

Core Design Contradiction:

Device complexityVSManufacturing precision

Solution Approach 1:

The finger structure incorporates dynamic rotation capabilities at multiple joints (first finger member relative to intermediate member, second finger member relative to intermediate member). This dynamic configuration allows the fingers to precisely position themselves for gripping objects of various shapes and sizes, achieving high gripping precision while maintaining a relatively simple overall structure.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

Each finger is divided into multiple rotatable segments (first finger member, intermediate member, second finger member). This segmentation allows independent control and adjustment of each segment's orientation, enabling precise positioning and robust interaction with objects while keeping the overall finger structure simple and modular.

Inventive Principle:

Principle #1Segmentation

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

This configuration enhances the usability of the robot hand by improving its ability to transition between modes and grip objects effectively, allowing for precise and robust interactions with various objects, including those in narrow gaps.

Implementation Method 1

rotating the first finger member with respect to the intermediate member in a first rotation direction while moving the first guide follower along the first guider

Methodology Applied

Scientific EffectRotational motion:

Implementation Method 2

rotating the second finger member with respect to the intermediate member in a second rotation direction which is a direction opposite to the first rotation direction

Methodology Applied

Scientific EffectRotational motion:

Data Source

PatentUS20250091229A1Robot hand and operation method for robot hand

Publication Date: 2025.03.20 PANASONIC HOLDINGS CORP

AI summary

A robot hand including: a first finger member; an intermediate member that is rotatably connected to the first finger member; a second finger member that is rotatably connected to the intermediate member; and a guide member that is rotatably connected to the second finger member and includes a first guider. The first finger member includes a first guide follower that is rotatably and movably disposed in the first guider.