High-Resolution Robotic Finger Vibration for Precise Manipulation
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Solution Overview
Problem
Existing robotic systems struggle to replicate the intricate and natural abilities of the human hand, particularly in tasks requiring precise gripping and manipulation of objects through hand-eye coordination and haptic feedback.
Innovation Solution
The Accu-Finger system employs a distal phalange with a vibrator and contact pad that generates vibratory motion to create a sticking and slipping phase, allowing for precise manipulation of objects by applying force parallel to the contact surface, mimicking human hand motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional robotic grippers are used for object manipulation, then basic gripping function is achieved, but spatial accuracy and natural manipulation ability are insufficient
Solution Approach 1:
The patent applies mechanical vibration through a vibrator mounted on the contact pad to generate alternating sticking and slipping phases during object manipulation. The vibration enables precise control of frictional force, allowing the robotic finger to achieve high spatial accuracy in manipulating objects while maintaining a relatively simple mechanical structure compared to traditional multi-actuator grippers.
2Force
If frictional contact is used for gripping, then object holding is achieved, but precise control of manipulation force is difficult
Solution Approach 1:
The patent employs periodic vibration cycles that alternate between sticking phases (where frictional force is high and the object is held firmly) and slipping phases (where frictional force is reduced and the object can be manipulated). This periodic action between the vibrator and contact pad enables precise temporal control of manipulation force, making it easier to control the robotic finger's interaction with objects.
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 Accu-Finger system enables high spatial accuracy in object manipulation by leveraging vibratory motion to enhance gripping and movement, mimicking human hand functionality.
Implementation Method 1
the vibrator comprises an eccentric rotating mass (ERM) motor and the vibration axis is substantially parallel to a plane of rotation of the eccentric mass and passes through a center of rotation of the eccentric mass
Implementation Method 2
during the first phase of each vibration cycle frictional force between the contact pad and the surface region substantially sticks and holds the contact pad to the contact surface region and the contact pad applies force to the contact surface region that operates to accelerate and/or move the object
Data Source
Figure 1
Figure 2A
Figure 2B~2D
AI summary
A robotic finger comprising: a vibrator for vibrating in vibratory motion cycles; a contact pad in communication with the vibrator for frictionally contacting an object at a surface contact region of the object, wherein the vibratory motion motion of the vibrator generates vibratory motion in the contact pad back and forth along an axis of vibration and a net displacement of the object along a selected direction along the axis of vibration; and a transmission system in communication with the vibrator for rotating the vibrator and the vibration axis to a desired azimuth angle.