Robotic Finger Phalanx Stopper Structure for Hyperextension Prevention
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Solution Overview
Problem
Existing robotic hands lack a simple and damage-proof design for grasping operations, particularly in scenarios where robustness and durability are essential.
Innovation Solution
A finger design for a robotic hand featuring rotatably coupled phalanxes with stopper structures and a transmission assembly, including a torsion spring and rope system, which allows controlled flexion and extension while preventing hyperextension and enhancing strength and durability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional robotic hand designs are used, then grasping operations can be performed, but the structure becomes complex and damage-proof ability is reduced
Solution Approach 1:
The robotic finger is divided into multiple phalanxes (proximal, intermediate, distal) that are rotatably coupled together. Each phalanx can move independently, allowing complex grasping motions to be achieved through simple rotational joints rather than complex mechanical structures. This segmentation reduces overall structural complexity while maintaining functionality.
Solution Approach 2:
A stopper structure is built into the phalanx assembly to prevent hyperextension before damage can occur. The stopper members extend from opposing phalanxes and physically limit the range of motion, cushioning against excessive forces and preventing structural damage in advance. This proactive protection enhances reliability without adding complex control systems.
2Strength
If robust phalanxes are used to withstand external forces, then durability increases, but the ability to perform delicate grasping operations decreases
Solution Approach 1:
The phalanxes are designed with rotational joints that allow dynamic adjustment of finger position and curvature. The stopper structure dynamically limits motion only when necessary (during hyperextension), while permitting full range of motion during normal grasping operations. This dynamic design enables the finger to adapt to various grasping tasks while maintaining structural strength.
Solution Approach 2:
The stopper members are strategically positioned at specific locations on the phalanxes where they will engage only during hyperextension. This localized protection mechanism allows the majority of the phalanx structure to remain lightweight and flexible for delicate operations, while providing targeted strength and protection only where needed.
3Reliability
If stopper structures are added to prevent hyperextension, then reliability improves, but device complexity increases
Solution Approach 1:
The stopper members are integrated directly into the phalanx structure itself rather than being separate external components. The stoppers are formed as extensions of the phalanx bodies, merging the protective function with the structural elements already present in the design. This integration adds minimal complexity while providing reliable hyperextension prevention.
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 provides a robust and durable robotic finger capable of withstanding external forces, preventing damage and increasing service life through controlled movement and reduced component complexity.
Implementation Method 1
an elastic member, the first end of which is connected to the rotating member and the second end of which is connected to the base
Implementation Method 2
a rope, the first end of which is connected to the rotating member
Data Source
AI summary
A finger of a robotic hand includes a phalanx portion including two phalanxes rotatably coupled to each other, one of the two phalanxes being rotatable about a rotation axis with respect to the other one of the two phalanxes; and a stopper structure including a first stopper member connected to the one of the two phalanxes and a second stopper member connected to the other one of the two phalanxes. The first stopper member extends around the rotation axis, and a circumferential space is defined between the first stopper member and the second stopper member and allowing the first stopper member to rotate together with the one of the two phalanxes in a predetermined range.