Humanoid Robot Thumb Gear Assembly for Four-DOF Dexterity
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Solution Overview
Problem
Current humanoid robots lack a mechanical end effector that can mimic the dexterity, strength, and versatility of a human hand while meeting operational constraints of energy consumption, cost efficiency, and mechanical durability in dynamic and unpredictable environments.
Innovation Solution
A thumb assembly for a humanoid robot featuring a digit assembly with pivotable joints, a motor assembly with two motors, and a gear assembly that allows for controlled movement of the thumb assembly between curled and uncurled positions, utilizing flexion and interposition gears for synchronized movement with four degrees of freedom using only two motors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple actuators are used to provide human-equivalent dexterity, then the robot can achieve higher precision and versatility, but the device complexity and cost increase significantly
Solution Approach 1:
The patent combines multiple actuator functions into a single integrated actuator assembly. The actuator assembly includes a motor, gear train, and linkage mechanism that work together to provide multiple degrees of freedom (at least two) for the robotic finger, eliminating the need for separate actuators for each joint while maintaining human-equivalent dexterity
Solution Approach 2:
The actuator assembly is designed as a universal multi-functional unit that can control multiple joints and provide various movements (flexion, extension, abduction, adduction) through its linkage mechanism. This single actuator assembly serves multiple functions that would traditionally require multiple separate actuators
2Measurement precision
If multiple actuators are used to control each finger joint, then the robot can achieve human-equivalent precision, but the energy consumption increases
Solution Approach 1:
By merging multiple actuator functions into a single actuator assembly with a shared motor and gear train, the patent reduces the total number of motors and power sources required. This consolidation decreases energy consumption while maintaining precision through the mechanical linkage system that coordinates multiple joint movements from a single power source
3Device complexity
If a simplified actuator system is used, then the device complexity and cost are reduced, but the robot loses the ability to mimic human hand capabilities
Solution Approach 1:
The patent employs a dynamic linkage mechanism within the actuator assembly that allows the robotic finger to achieve human-equivalent ranges of motion and dexterity. The linkage system dynamically coordinates the movement of multiple joints, enabling complex hand gestures and grasping motions despite using fewer actuators
Solution Approach 2:
The linkage mechanism acts as an intermediary between the single actuator assembly and the multiple finger joints. It translates the rotational output of the motor into coordinated movements across multiple joints, enabling the simplified actuator system to achieve human-equivalent hand capabilities
Data Source
AI summary
The present disclosure provides a thumb assembly for an end effector for a humanoid robot. The thumb assembly includes a digit assembly comprising a proximal assembly, a medial assembly, a distal assembly, a proximal interphalangeal joint pivotably coupling the proximal assembly to the medial assembly, and a distal interphalangeal joint pivotably coupling the distal assembly to the medial assembly. The thumb assembly also includes a motor assembly comprising a first motor and a second motor, and a gear assembly. The gear assembly includes a flexion gear configured to be driven by the first motor to cause the digit assembly to move about a second carpometacarpal joint axis, and an interposition gear configured to be driven by the second motor to cause the digit assembly to move about a first carpometacarpal joint axis.