Robot Hand Finger Structure for Stable Precision Part Gripping
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Solution Overview
Problem
Existing robot hands face challenges in stably gripping precision parts with complex shapes, as they struggle to counter reaction forces during assembly operations, often requiring increased gripping force that can lead to deformation of the workpiece or failure in positioning.
Innovation Solution
The robot hand design incorporates multiple fingers with a first member for applying gripping force and a second movable member that slides to stabilize the workpiece, allowing independent movement to match the shape of the object and absorb reaction forces, thereby reducing displacement and slipping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If gripping force is increased to counter reaction forces during assembly operations, then stability of gripping is improved, but the workpiece may deform or positioning may fail
Solution Approach 1:
The finger is divided into a first member and a second member that can move independently relative to each other. The first member applies gripping force while the second member moves to absorb reaction forces, allowing the gripping function to be segmented into force application and force absorption, thereby maintaining stability without deforming the workpiece
Solution Approach 2:
The second member is made movable with respect to the first member, introducing dynamic capability to the finger structure. This allows the finger to adapt its configuration during gripping, moving the second member to absorb reaction forces while the first member maintains gripping force, resolving the contradiction between stability and workpiece protection
2Adaptability or versatility
If a simple finger structure is used, then device complexity is reduced, but the ability to handle complex-shaped workpieces is limited
Solution Approach 1:
By segmenting the finger into movable first and second members, the structure gains adaptability to complex workpiece shapes without requiring an entirely complex design. Each member can independently position itself, providing versatility while maintaining a relatively simple overall structure
Solution Approach 2:
The movable connection between first and second members introduces dynamic adaptability, allowing the finger to adjust its shape and configuration to match complex workpiece geometries, thereby improving versatility without significantly increasing structural complexity
3Manufacturing precision
If a robot hand with movable second members is used, then positioning precision is improved by reducing displacement and slipping, but device complexity increases
Solution Approach 1:
Segmenting the finger into two functional members allows independent optimization of each component's role, improving positioning precision through coordinated movement while keeping each individual component relatively simple in structure
Solution Approach 2:
The dynamic movement capability of the second member relative to the first member enables real-time adaptation to workpiece geometry, reducing displacement and slipping for improved positioning precision without requiring overly complex mechanical structures
Data Source
AI summary
A robot hand includes at least one finger. The finger includes a first member configured to come into contact with an object to apply a gripping force to the object, and a second member movable with respect to the first member to come into contact with the object.