Robotic Grasping Hand With Angularly Displaceable Fingers
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Solution Overview
Problem
Conventional robotic grippers require a large number of actuators to achieve multiple degrees of freedom, leading to increased complexity, weight, and cost, while under-actuated devices lack full control and determinism in grasping objects.
Innovation Solution
A robotic hand design with angularly displaceable fingers and linearly displaceable fingertips, utilizing a lead screw and follower mechanism, allows for adjustment of finger positions and angles with fewer actuators, enabling robust grasping and manipulation of objects with reduced actuator count.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robotic gripper uses numerous actuators to achieve multiple degrees of freedom, then the grasping capability and control precision are improved, but the device complexity, weight, and cost increase
Solution Approach 1:
The robotic hand is segmented into multiple independent fingers, each with its own degrees of freedom. This allows the system to achieve complex grasping capabilities through coordinated movement of segmented components rather than requiring a single complex actuation system, thereby reducing overall device complexity while maintaining versatility
Solution Approach 2:
The system employs dynamic reconfiguration of the robotic hand structure during operation. The fingers can adjust their positions and orientations dynamically to adapt to different objects, enabling the system to achieve high adaptability with fewer actuators by utilizing dynamic structural changes rather than static multi-actuator configurations
2Measurement precision
If a robotic gripper uses numerous actuators to achieve multiple degrees of freedom, then the control precision and grasping quality are improved, but the weight of the gripper increases
Solution Approach 1:
Multiple actuation functions are merged into shared mechanical structures. The face gears and lead screws serve dual purposes: they simultaneously control both the angular displacement of fingers and the linear displacement of fingertips. This merging of functions reduces the total number of actuators required, thereby reducing weight while maintaining control precision
Solution Approach 2:
The actuators are designed with multi-functionality, where each actuator can perform multiple tasks. For example, the face gears not only control finger rotation but also coordinate the movement of multiple fingers simultaneously. This universal design allows fewer actuators to achieve the same control precision that would otherwise require more actuators, thus reducing overall weight
3Reliability
If a robotic gripper uses numerous actuators to achieve multiple degrees of freedom, then the grasping performance is improved, but the construction costs and maintenance costs increase
Solution Approach 1:
The robotic hand employs homogeneous mechanical structures across all fingers, using identical face gears, lead screws, and follower elements. This standardization of components simplifies manufacturing processes, reduces construction costs, and facilitates easier maintenance and replacement, while still achieving high grasping performance through coordinated movement of these uniform components
Solution Approach 2:
The mechanical design incorporates self-contained features where components serve multiple functions and can be easily replaced or maintained independently. The modular structure allows for self-service maintenance where individual fingers or actuation mechanisms can be serviced without affecting the entire system, thereby reducing maintenance costs while maintaining reliable grasping performance
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 solution enables efficient object manipulation with fewer actuators, reducing the weight and cost of the gripper while maintaining high degrees of freedom and determinism, applicable to various manipulation tasks such as lifting, tool operation, and bin-picking.
Implementation Method 1
each finger comprises a lead screw along its length passing through said follower element; wherein each lead screw comprises a spur gear fixedly attached to its proximal side
Implementation Method 2
each of said spur gears is configured to mesh with said first and second face gears
Data Source
AI summary
The present disclosure relates to a robotic grasping hand having a central palm; a plurality of fingers connected to said palm, each of said fingers including a fingertip movable along a length of said fingers; wherein the fingers are placed on a common imaginary plane and are angularly displaceable thereon. The present disclosure relates to a corresponding system and method for activating the grasping hand.