Cable-Driven Robot Hand Thumb Module With Pre-Tensioned Durability
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Solution Overview
Problem
Existing robot hand modules are bulky and prone to durability issues due to the use of wires, which are susceptible to damage during joint rotation, hindering the development of a humanoid robot capable of mimicking human-like motion.
Innovation Solution
A robot hand module design featuring a thumb and finger module structure with cable-driven phalangeal parts and pre-tensioners, including spring members and catching members, allows for reduced size and weight while enhancing durability through optimized cable routing and tension management.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If hard links are used to ensure rigidity of the robot hand module, then structural strength is improved, but weight and size increase
Solution Approach 1:
The patent changes the structural parameter from rigid hard links to flexible soft links made of elastic materials. This parameter change allows the robot hand module to maintain structural integrity while significantly reducing weight and size, as the soft links can bend and deform without requiring heavy reinforcement.
Solution Approach 2:
The patent employs composite material construction by combining elastic materials (for soft links) with rigid materials (for bone structures and joint modules). This composite approach allows different parts of the robot hand to have optimal properties - flexibility where needed and rigidity where structural support is required - thereby reducing overall weight while maintaining necessary strength.
2Weight of moving object
If wires are applied to reduce the weight and size of the robot hand module, then weight and size are reduced, but durability deteriorates due to wire damage during joint rotation
Solution Approach 1:
The patent extracts the vulnerable wire component from the system and replaces it with a soft link made of elastic material. This extraction eliminates the durability problem associated with wires during joint rotation, as the soft link is inherently more resistant to damage from bending and rotational movements.
Solution Approach 2:
The patent adopts a design where the soft link can be easily replaced if damaged, similar to a disposable component. The soft link is designed to be simple and inexpensive to manufacture, allowing for quick replacement rather than complex repair, thereby maintaining high reliability through ease of maintenance.
3Weight of moving object
If soft links are used instead of hard links, then weight and size are reduced, but structural rigidity decreases
Solution Approach 1:
The patent applies local quality by making different parts of the robot hand with different rigidity characteristics. The bone structures and joint modules maintain rigid properties for structural support, while the links connecting them are made soft and flexible. This localized differentiation allows the overall system to be lightweight while maintaining necessary rigidity in critical areas.
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 achieves a more human-like motion with reduced size and weight, improved durability, and efficient power transmission, minimizing friction and enhancing the robot's ability to grasp objects effectively.
Implementation Method 1
a spring member having one end portion fixed to the phalangeal part
Data Source
AI summary
A robot hand module includes a palm part and a thumb module coupled to the palm part, wherein the thumb module includes a thumb phalangeal part movably coupled to the palm part, a thumb cable part having a first side connected to the thumb phalangeal part, and a thumb driving part connected to a second side of the thumb cable part and configured to operate the thumb phalangeal part by extending the thumb cable part to the outside or retracting the thumb cable part, and wherein the thumb phalangeal part includes a thumb pre-tensioner configured to pull the thumb cable part, a first side of the thumb pre-tensioner being fixed relative to the thumb phalangeal part, and a second side of the thumb pre-tensioner being fixed to the thumb cable part.