Single Actuator Robotic Hand Driving Assembly

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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 driving assembly for a robotic hand that uses a single actuator to drive multiple phalanxes through a system of flexible pulling members, elastic members, and torsion springs, allowing for compact and lightweight design while enabling adaptive grasping.

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:

A single actuator is designed to drive multiple phalanxes simultaneously through a system of pulling members, making the actuator perform multiple functions that would traditionally require separate actuators for each phalanx

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

Multiple actuation functions are merged into a single actuator unit, with multiple pulling members (first, second, and third pulling members) transmitting force from one actuator to multiple phalanxes, consolidating what would be separate actuation systems

Inventive Principle:

Principle #5Merging (Combining)

2Ease of operation

If multiple actuators are used to drive each phalanx, then each phalanx can be independently controlled, but the device complexity and cost increase

Engineering Contradiction:

Improveindependent controlVSAvoidactuator system complexity

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The single actuator is designed with multi-functionality to control multiple phalanxes through a coordinated system of pulling members, reducing the number of actuators from multiple to one while maintaining control capability

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The control system is segmented into multiple independent pulling members (first, second, and third pulling members) that can be controlled independently, allowing each phalanx to be controlled separately through the single actuator's multiple output channels

Inventive Principle:

Principle #1Segmentation

3Ease of operation

If multiple actuators are used for each phalanx, then precise control is achieved, but the overall size and bulk of the robotic hand increases

Engineering Contradiction:

Improvecontrol capabilityVSAvoidrobotic hand volume

Core Design Contradiction:

Ease of operationVSVolume of moving object

Solution Approach 1:

Multiple actuation functions are merged into a single actuator unit with multiple pulling members, consolidating the volume required for actuation components into one compact unit rather than distributing multiple actuators throughout the hand structure

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

Flexible pulling members (cables or belts) are used to transmit actuation force through the robotic hand structure, allowing for compact routing and reduced structural bulk compared to rigid actuator mounting for each phalanx

Inventive Principle:

Principle #30Flexible shells and thin films

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 compactness, reduced weight, and lower costs for the robotic hand while facilitating smooth and adaptive grasping operations by utilizing a single actuator to drive multiple phalanxes, improving the overall efficiency and functionality of the robotic hand.

Implementation Method 1

an elastic member (5), A first one of the at least two phalanxes is rotatably connected to the fixed member (2) through a revolute joint (011). One end of the elastic member (5) is connected to the actuator (1), and the other end of the elastic member (5) is connected to the first pulling member (6)

Methodology Applied

Scientific EffectElasticity: Elasticity

Implementation Method 2

torsion springs (9), The second pulling member (7) has two ends fixed to the revolute joints (011, 012), so as to pull a second one of the at least two phalanxes and rotate the second one of the at least two phalanxes with respect to the first one of the at least two phalanxes. The torsion springs (9) are mounted to the revolute joint (011) and the revolute joint (012) and respectively apply a restoring force to the at least two phalanxes

Methodology Applied

Scientific EffectTorsion spring: Torsion Spring

Data Source

PatentUS20200206910A1Driving assembly and robotic hand having the same

Publication Date: 2020.07.02 UBTECH ROBOTICS CORP LTD

AI summary

A driving assembly of a robotic hand includes an actuator, a fixed member, an elastic member having an end connected to the actuator, two phalanxes rotatably connected to each other through a first revolute joint, one of which is rotatably connected to the fixed member through a second revolute joint, torsion springs mounted to the first revolute joint and the second revolute joint, a first pulling member having two opposite ends that are respectively fixed to the fixed member and the first revolute joint, a second pulling member having two opposite ends that are respectively fixed to the first revolute joint and the second revolute joint, and a third pulling member having two opposite ends that are respectively fixed to the actuator and the second one of the at least two phalanxes.