Robotic Hand Linkage for Misaligned Insertion Coupling
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Solution Overview
Problem
Existing robotic hands face difficulties in accurately aligning and coupling workpieces with displaced axes during insertion tasks, as they are limited to vertical configurations, which restricts their ability to smoothly couple workpieces with axes that are not aligned.
Innovation Solution
A robotic hand system equipped with a gripper, a straight-moving actuator, and a rotation actuator, featuring at least two fingers and a linkage that adjusts for tilt and eccentricity, allowing for precise alignment and coupling of workpieces by moving straight and rotating about a predetermined axis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the hand grips the workpiece vertically to eliminate moment from self weight, then axis alignment between workpiece and hole is eased, but the hand cannot smoothly couple workpieces with displaced axes
Solution Approach 1:
The linkage mechanism transforms the rigid vertical grip into a dynamic system that can adapt to misaligned workpieces. The movable portions and sliding portions allow the fingers to self-adjust their positions, enabling the hand to accommodate both vertically aligned and horizontally displaced workpieces while maintaining effective coupling capability
Solution Approach 2:
The linkage changes the positional parameters of the fingers relative to the workpiece. By introducing movable and sliding portions, the system can alter the grip position and angle dynamically, allowing the hand to adapt to different workpiece orientations and positions, thereby resolving the contradiction between precise alignment and adaptability
2Manufacturing precision
If the hand is configured for accurate vertical axis alignment, then insertion coupling precision is improved, but the device complexity increases and operation becomes limited
Solution Approach 1:
The linkage mechanism provides self-alignment functionality through its movable and sliding portions. When the hand grips a workpiece, the linkage automatically adjusts the finger positions to achieve proper alignment, eliminating the need for complex external alignment mechanisms and reducing overall device complexity while maintaining high insertion precision
Data Source
AI summary
A second hand H2 that couples a first workpiece to a second workpiece, where the first and second workpieces are to be coupled to each other by insertion coupling, includes: a second gripper 5 that grips the first workpiece; a straight-moving actuator 6 that moves the second gripper 5 straight in the direction of a predetermined axis E; and a rotation actuator 7 that rotates the second gripper 5 about the axis E. The second gripper 5 includes three second fingers 51 that grip the first workpiece, and a linkage 52 that opens and closes the three second fingers 51.