Robot Thumb Cable-Pulley Layout for Lightweight Durable Grasping
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Solution Overview
Problem
Existing robot hand modules are bulky and prone to durability issues due to the use of rigid components or wires, which hinder weight reduction and mimicry of human hand motions.
Innovation Solution
A robot hand module design featuring a thumb module with a thumb phalangeal part, thumb cable, and thumb driving part, along with a novel cable routing system using pulleys and joint regions, allowing for a compact and durable structure that mimics human hand motions.
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 of the robot hand module increase
Solution Approach 1:
The patent replaces traditional hard link structures with flexible cable mechanisms (thumb cable part including first and second thumb cables) that run through pulleys and joint regions. This flexible cable system maintains the necessary structural strength while significantly reducing the weight and size of the robot hand module compared to rigid hard link components.
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 the wire may be damaged during joint rotation causing deterioration in durability
Solution Approach 1:
The patent introduces pulleys (first thumb pulleys in second thumb phalangeal member and second thumb pulley in third thumb phalangeal member) as intermediary components that guide and protect the thumb cables during joint rotation. These pulleys act as mediators between the cables and rotating joints, preventing direct contact and damage to the cables while maintaining weight reduction benefits.
Solution Approach 2:
The patent designs the cable routing system with pulleys and protective joint regions beforehand to prevent wire damage during operation. By anticipating the potential damage during joint rotation, the design incorporates protective measures (pulleys guiding cables through safe paths) in advance, ensuring durability is maintained while achieving weight reduction.
3Volume of moving object
If a compact structure is designed to reduce size, then volume is reduced, but complexity of cable routing and joint mechanisms increases
Solution Approach 1:
The patent merges multiple cable routing functions into integrated pulley assemblies. The first thumb pulleys and second thumb pulley are positioned within the phalangeal members to combine cable guidance, joint rotation support, and space optimization into unified components. This merging approach reduces overall system complexity while achieving compact dimensions.
Solution Approach 2:
The patent utilizes three-dimensional space optimization by routing cables through multiple dimensions and levels within the phalangeal members. The cable routing system employs vertical and horizontal positioning of pulleys to create efficient spatial arrangements, reducing the overall volume occupied by the mechanism while managing cable complexity through dimensional organization.
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 reduces the weight and size of the robot hand module while enhancing durability and efficiency in mimicking human hand motions, enabling effective grasping and manipulation of objects.
Implementation Method 1
a thumb cable part having one side connected to the thumb phalangeal part, and a thumb driving part connected to the other 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
Implementation Method 2
The first thumb pulleys may include a first-1 thumb pulley, and a first-2 thumb pulley disposed between the first-1 thumb pulley and the second thumb pulley based on a direction in which the first thumb cable extends
Data Source
AI summary
A robot hand module includes a palm part and a thumb module coupled to the palm part. 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. The thumb cable part includes a first thumb cable extended from the thumb driving part and having a first side fixed in the thumb phalangeal part and a second thumb cable having a first side and a second side fixed in the thumb phalangeal part.