Robotic Finger Device With Universal Joint Actuation
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Solution Overview
Problem
Conventional robotic arms lack the necessary degree of freedom and mechanical flexibility to perform complex grasping tasks, such as conformal grasping and human-like finger movements, due to limited mechanical space and inability to utilize micro motors effectively.
Innovation Solution
A finger device with a finger segment, base, first and second steering control mechanisms, and actuators, allowing for independent movement in multiple directions through universal joints, enabling finger pitch adjustment and curling movements, mimicking human finger actions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional robotic arm structure is used, then mechanical simplicity is maintained, but degree of freedom is insufficient and grasping flexibility is limited
Solution Approach 1:
The robotic arm is divided into multiple independent finger devices, each with its own actuation system. Each finger device includes a finger segment, finger base, and independent first and second actuators, allowing individual control of each finger's pitch and curling movements. This segmentation enables complex grasping adaptations while maintaining manageable mechanical complexity through modular design.
Solution Approach 2:
The invention adds a new dimension of movement by incorporating both pitch adjustment (rotation around vertical axis) and curling movement (rotation around horizontal axis) for each finger. The universal joint enables movement in two independent directions, transforming the conventional single-axis robotic joint into a two-degree-of-freedom joint, thereby significantly enhancing grasping flexibility.
2Volume of moving object
If micro motors are directly driven, then mechanical space is minimized, but transmission precision and control accuracy deteriorate
Solution Approach 1:
The invention replaces direct mechanical drive with a cable-driven transmission system. The actuators are positioned remotely from the finger joints, and their motion is transmitted through cables to the finger segment. This substitution allows miniaturization of the mechanical structure at the finger end while maintaining precise control through the cable transmission mechanism, resolving the conflict between compact space and transmission precision.
3Adaptability or versatility
If conventional grasping mechanism is used, then device simplicity is maintained, but ability to perform conformal grasping and human-like finger movements is insufficient
Solution Approach 1:
The finger device is designed as a universal joint mechanism that can perform both pitch adjustment and curling movements, making it multi-functional. The same finger device structure can adapt to different grasping requirements and object shapes, providing conformal grasping capability. This universality allows a single finger device design to handle multiple grasping tasks without requiring specialized mechanisms for each function.
Solution Approach 2:
The invention implements dynamic control of finger movements through independent actuation of pitch and curling motions. The first actuator controls pitch adjustment while the second actuator controls curling movement, allowing real-time adaptation of finger position and orientation. This dynamic control enables human-like finger movements and conformal grasping by continuously adjusting the finger's degree of freedom in response to different grasping requirements.
Data Source
AI summary
A finger device including a finger segment, a finger base, a first steering control mechanism, a first actuator, a second steering control mechanism, a universal joint and a second actuator is provided. The finger base is connected to one end of the finger segment, and the first steering control mechanism is disposed on the finger base. The first actuator is configured to provide a first moment to the first steering control mechanism, so that the finger segment and the finger base have a degree of freedom in a first moving direction. The second steering control mechanism is disposed on the finger base. The second actuator is configured to provide a second moment to the universal joint. The universal joint is rotatably connected between the second actuator and the second steering control mechanism, so that the finger segment has a degree of freedom in a second moving direction.