Robot Hand Wire-Driven Spreader Mechanism for Gripping Control
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Solution Overview
Problem
Existing robot hands face complexity in gripping various objects due to the need for many independent actuators, making them difficult to manufacture at a minimized cost and control effectively.
Innovation Solution
A robot hand design featuring a hand main body with fingers connected via a driving mechanism comprising spreaders, stretching wires, bending wires, and a rotation detection sensor, allowing for precise control and object shape detection using a controller and simulation unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If many independent actuators are used to guarantee the capability of gripping various objects, then the gripping capability is improved, but the device complexity increases
Solution Approach 1:
The patent combines multiple actuators into a single actuator that controls multiple spreaders simultaneously. The driving mechanism includes a single actuator connected through driving wires to multiple spreaders, allowing one actuator to control the opening and closing of multiple fingers, thereby reducing the total number of independent actuators while maintaining gripping capability for various objects
Solution Approach 2:
The single actuator is designed to perform multiple functions by controlling multiple spreaders through the wire mechanism. This universal actuator can control different combinations of spreaders to adapt to various gripping scenarios, making it multi-functional and capable of handling diverse objects without requiring separate actuators for each function
2Adaptability or versatility
If many independent actuators are used to guarantee the capability of gripping various objects, then the gripping capability is improved, but the manufacturing cost increases
Solution Approach 1:
By merging multiple actuator functions into a single actuator with a shared wire control system, the patent reduces the number of components that need to be manufactured and assembled. This consolidation directly lowers manufacturing costs while preserving the ability to grip various objects through different spreader configurations
3Adaptability or versatility
If many independent actuators are used to guarantee the capability of gripping various objects, then the gripping capability is improved, but the ease of control deteriorates
Solution Approach 1:
The patent simplifies control by merging multiple control signals into a single control input. The actuator controls multiple spreaders through a shared wire mechanism, so that one control action simultaneously affects multiple fingers, making the system easier to operate while maintaining versatile gripping capability
4Ease of manufacture
If a simple configuration is used to minimize manufacturing cost, then the manufacturing cost is reduced, but the measurement precision of object shape detection deteriorates
Solution Approach 1:
The patent incorporates a rotation detection sensor that provides feedback on the angular position of the spreader. This feedback mechanism enables the control unit to accurately determine the shape of gripped objects by analyzing the rotational angles, achieving precise object shape detection while maintaining a relatively simple overall configuration
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 enables easy detection of gripped object shapes, simplifies the hand's configuration, reduces manufacturing costs, and allows for precise control of the fingers, improving the robot's ability to grip diverse objects with a smaller number of motors and sensors.
Implementation Method 1
a plurality of stretching wires connected to any one of the first spreader and the second spreader, and configured to pull the fingers to cause the fingers to be stretched
Implementation Method 2
a plurality of bending wires connected the other one of the first spreader and the second spreader, and configured to pull the fingers to cause the fingers to be bent
Implementation Method 3
a rotation detection sensor provided on at least one of the first spreader or the second spreader
Data Source
AI summary
A hand of a robot includes: a hand main body including a palm; a plurality of fingers connected to the hand main body; a first spreader disposed inside the hand main body; a second spreader positioned between the palm and the first spreader and disposed in parallel to the first spreader; a plurality of stretching wires connected to any one of the first spreader and the second spreader, and configured to pull the fingers to cause the fingers to be stretched; a plurality of bending wires connected the other one of the first spreader and the second spreader, and configured to pull the fingers to cause the fingers to be bent; a driving mechanism configured to rotate and/or shift the first spreader and the second spreader; and a rotation detection sensor provided on at least one of the first spreader or the second spreader.