Robotic Finger With Elastic Cam Mechanism for Impact Flexion
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Solution Overview
Problem
Existing robotic hands are complex in structure and lack damage-proof capabilities, particularly in scenarios requiring flexible grasping operations.
Innovation Solution
A simplified robotic finger design incorporating a phalanx portion, rotating member, rope, rotating cam, and elastic member, which allows for flexible extension and flexion through a mechanism driven by a servo device, enabling the finger to avoid damage from hard impacts by always being able to flex.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing robotic hand structures are used, then grasping operations can be performed, but the structure becomes complex and damage-proof capability is lost
Solution Approach 1:
The robotic finger is divided into multiple phalanx portions (proximal, intermediate, distal) that can move independently relative to each other. This segmentation allows the finger to flex and absorb impact forces while maintaining a relatively simple overall structure compared to traditional robotic hands.
Solution Approach 2:
The elastic member changes its elastic force parameters dynamically based on the flexion angle of the finger. As the finger flexes under impact, the elastic force increases to provide progressive resistance, enabling damage-proof capability without requiring complex active control systems.
2Device complexity
If a simplified robotic finger structure is used, then fewer components are needed, but damage-proof capability may be compromised
Solution Approach 1:
The elastic member is pre-installed between the proximal and distal phalanx portions to provide beforehand cushioning against impact forces. This passive elastic element is always ready to absorb energy from hard impacts, providing damage-proof capability without requiring additional active components or complex control mechanisms.
3Reliability
If the servo device operates in a limited state, then control precision is maintained, but the finger cannot flex to avoid damage from hard impacts
Solution Approach 1:
The elastic member provides self-service by automatically generating the necessary elastic force to flex the finger when subjected to impact forces. This passive mechanism operates independently of the servo device's control state, ensuring the finger can always flex to avoid damage even when the servo is in a limited or failed state.
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 flexible grasping with fewer components, reduces the risk of damage from external forces, and allows the driving device to operate in a non-limit state, ensuring the finger can flex to avoid damage even if the servo fails.
Implementation Method 1
an elastic member 50 connected to the rotating member 20 and used to apply an elastic force to the rotating member 20 to rotate the rotating member 20 in a second direction different from the first direction
Data Source
AI summary
A finger of a robotic hand includes a phalanx portion including at least two phalanxes rotatably coupled to each other, a rotating member that is rotatable with respect to the phalanx portion, a rope having two opposite ends respectively connected to one phalanx and the rotating member, a rotating cam driven by a driving device and having a lateral surface that stays in contact with the rotating member, the rotating cam being configured to push the rotating member to rotate the rotating member in a first direction, and an elastic member connected to the rotating member and configured to apply a force to the rotating member to rotate the rotating member in a second direction.