Robotic Hand Driving Assemblies for Compact Grasping
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Solution Overview
Problem
Conventional multi-fingered robotic hands are bulky due to the large number of actuators required to drive each phalanx, leading to a cumbersome and space-inefficient design.
Innovation Solution
The robotic hand employs a configuration where two adjacent fingers are driven by a single servo actuator, reducing the overall number of servos and optimizing the use of space within the palm, with a lead screw and nut mechanism that allows for compact and lightweight driving assemblies.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If each phalanx is driven by a separate actuator, then the robotic hand can perform precise grasping operations, but the robotic hand becomes bulky and occupies additional space on the arm
Solution Approach 1:
The patent combines multiple driving functions into a single integrated driving assembly located in the wrist. Instead of distributing actuators across each phalanx, the invention merges all driving mechanisms into one compact unit that transmits power to multiple fingers through tendons, thereby reducing overall volume while maintaining grasping capability
Solution Approach 2:
The patent introduces tendons as intermediary elements that transmit force from the centralized driving assembly to the phalanxes. This mediator allows the driving force to be distributed remotely without requiring bulky actuators at each joint location, resolving the contradiction between centralized compactness and distributed actuation capability
2Reliability
If each phalanx is driven by a separate actuator, then the robotic hand can perform precise grasping operations, but the robotic hand becomes cumbersome and space-inefficient
Solution Approach 1:
The patent merges multiple actuator functions into a single integrated driving assembly with a limited number of motors (5-8 motors total). This consolidation reduces device complexity by eliminating the need for numerous separate actuators while maintaining the capability to control multiple phalanxes through tendon-based force transmission
Solution Approach 2:
The driving assembly serves multiple functions simultaneously - a single motor can control multiple fingers through shared tendons, and the same assembly handles both positioning and grasping operations. This multi-functionality reduces the overall number of components needed compared to dedicated actuators for each phalanx
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 reduces the size and weight of the driving assemblies, allowing for a more compact and efficient robotic hand that does not occupy additional space on the arm, while maintaining the ability to perform grasping operations effectively.
Implementation Method 1
a lead screw and nut mechanism that allows for compact and lightweight driving assemblies
Data Source
AI summary
A robotic hand includes a palm, a thumb and four fingers that are connected to the palm; a first driving assembly to drive the thumb to rotate, a second driving assembly and a third driving assembly to respectively drive two of the four fingers to rotate; and a fourth driving assembly to drive the other two of the four fingers to rotate. The first driving assembly, the second driving assembly, the third driving assembly, and the fourth driving assembly are received within the palm.