Robotic Digit Interchange System for Versatile End Effector Tasks
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Solution Overview
Problem
Robotic devices with fixed, non-interchangeable end effectors are limited in their task versatility and efficiency due to task-specific designs, which restrict their ability to perform a wide range of tasks and require larger, more complex actuators for grip force and torque, increasing cost, size, and complexity.
Innovation Solution
A digit interchange system that allows robotic devices to autonomously swap between interchangeable digits, using a digit mounting apparatus with a pivot joint and actuator to attach and control passive digits, reducing the need for multiple actuators and enabling selection based on task requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If robotic devices use fixed, non-interchangeable end effectors with task-specific designs, then grip force and torque can be optimized for specific tasks, but the device complexity and size increase due to requiring multiple specialized actuators
Solution Approach 1:
The patent implements a universal digit mounting apparatus that can accommodate multiple types of digits (grasping, pushing, pulling, etc.) through a standardized interface. The single actuator system provides multi-functional capability by controlling different digit types for various tasks, eliminating the need for multiple specialized actuators while maintaining optimized grip force for each task-specific digit
2Device complexity
If robotic devices use fixed, non-interchangeable end effectors, then the structure can be simplified, but task versatility is limited
Solution Approach 1:
The patent divides the end effector system into modular components: a fixed digit mounting apparatus and interchangeable digits. This segmentation allows the structural base to remain simple while the functional digits can be changed to match different task requirements, achieving both structural simplicity and task versatility
Solution Approach 2:
The system transitions from a static, fixed end effector configuration to a dynamic, interchangeable digit system. The digit mounting apparatus enables real-time reconfiguration of the end effector based on task requirements, allowing the robotic device to adapt its capabilities dynamically without complicating the overall structure
3Reliability
If robotic devices use task-specific end effectors with optimized actuators, then performance for specific tasks improves, but the cost and size of the system increase
Solution Approach 1:
The patent employs a universal digit mounting apparatus with a single actuator that can control multiple types of digits for different tasks. This multi-functional approach maintains optimized task performance for each digit type while significantly reducing the overall system size and cost compared to having separate actuators for each task-specific end effector
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
Enables robotic devices to perform a wider range of tasks with reduced force and torque requirements, decreasing the size, complexity, and cost of the robotic system while allowing for easy replacement of worn or dirty digits.
Implementation Method 1
an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit
Implementation Method 2
causing the actuator to pivot the pivot joint to cause the selected digit to manipulate an identified object
Data Source
AI summary
A robotic device is provided. The robotic device includes a first detachable digit, including a first connector piece. The robotic device also includes a digit mounting apparatus, including a first pivot joint and a second connector piece coupled to the first pivot joint, where the second connector piece is configured to mate with the first connector piece of the first detachable digit. The robotic device also includes an actuator configured to pivot the first pivot joint about a first axis to cause the second connector piece of the digit mounting apparatus to mate with the first connector piece of the first detachable digit to attach the first detachable digit to the digit mounting apparatus.