Robotic Finger Actuation Using Single Motor and Pulling Members

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Solution Overview

Problem

Conventional multi-fingered robotic hands are bulky due to the need for multiple actuators to drive each phalanx, leading to increased weight and cost.

Innovation Solution

A robotic finger design that uses a single actuator to drive two or more movable phalanges through flexible pulling members, such as steel wires or belts, allowing for compact and lightweight construction.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If each phalanx is driven by a separate actuator, then the robotic hand can achieve precise control of each phalanx, but the robotic hand becomes bulky and heavy

Engineering Contradiction:

Improvecontrol precisionVSAvoidrobotic hand weight

Core Design Contradiction:

Ease of operationVSWeight of moving object

Solution Approach 1:

The patent combines multiple actuation functions into a single actuator by using a common driving mechanism that controls multiple phalanges through shared transmission components. The first and second movable phalanges are both driven by the same actuator through different pulling members, reducing the total actuator count while maintaining control capability

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The single actuator serves multiple functions by controlling both the first and second movable phalanges. The actuator is designed to independently control each phalanx through separate pulling members (steel wires or belts) while using a unified driving mechanism, making one component perform the work of multiple actuators

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Ease of operation

If each phalanx is driven by a separate actuator, then the robotic hand can achieve precise control of each phalanx, but the device complexity increases

Engineering Contradiction:

Improvecontrol precisionVSAvoidactuator quantity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The patent merges multiple actuation systems into a single integrated actuator unit. The common driving mechanism shares motors, transmission components, and control electronics, reducing the number of independent subsystems while maintaining the ability to control each phalanx independently through separate pulling members

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The actuator system is designed with universal functionality where a single actuator unit can control multiple phalanges through different pulling members. This multi-functional design reduces device complexity by eliminating redundant actuator components while preserving precise control capabilities

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Ease of operation

If multiple actuators are used to drive each phalanx, then the robotic hand can achieve independent control of each phalanx, but the cost increases

Engineering Contradiction:

Improvecontrol precisionVSAvoidmanufacturing cost

Core Design Contradiction:

Ease of operationVSEase of manufacture

Solution Approach 1:

The patent combines multiple actuation functions into a single actuator, reducing the total component count including motors, transmission mechanisms, and control electronics. This merging approach directly reduces material costs, assembly costs, and maintenance costs while maintaining independent control of each phalanx through separate pulling members

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The actuator is designed as a universal multi-functional component that can control multiple phalanges. This reduces the overall system cost by eliminating redundant expensive components while maintaining the precision control capability through independent pulling member actuation

Inventive Principle:

Principle #6Universality (Multi-functionality)

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

This configuration enables compact and cost-effective robotic hands with synchronized rotation of phalanges, achieving controllable extension and flexion positions while reducing the number of required actuators.

Implementation Method 1

a first pulling member (50) to pull the first movable phalanx (30) so as to rotate the first movable phalanx (30) with respect to the fixed phalanx (20)

Methodology Applied

Scientific EffectTension: Tension

Data Source

PatentUS10857681B2Finger of robotic hand and robot having the same

Publication Date: 2020.12.08 UBTECH ROBOTICS CORP LTD

AI summary

A finger of a robotic hand includes a palm portion, a fixed phalanx fixed to the palm portion, a first movable phalanx rotatably connected to the fixed phalanx, a second movable phalanx rotatably connected to the first movable phalanx, a first pulling member to pull the first movable phalanx so as to rotate the first movable phalanx with respect to the fixed phalanx, a second pulling member to pull the second movable phalanx so as to rotate the second movable phalanx with respect to the first movable phalanx, and an actuator to pull the first pulling member.