Robotic Hand Device Segmentation for Load Resistance
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Solution Overview
Problem
Conventional hand devices for robots are prone to breakage during pushing and pulling operations due to high loads applied, and reducing the number of bending and stretching mechanisms limits their ability to perform precise motions like gripping and pinching.
Innovation Solution
A hand device design featuring a first finger fixed to the hand base, with a second finger that approaches or separates from the first finger via a drive mechanism, allowing load application through the hand base during pulling and through the first finger's surface during pushing, enabling precise motion and reducing the risk of breakage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the number of bending and stretching mechanisms is reduced to prevent breakage, then reliability improves, but degrees of freedom of the fingers are lowered and manufacturing precision deteriorates
Solution Approach 1:
The hand device is segmented into two functional parts: a first finger fixed to the hand base for stable load bearing, and a second finger with bending/stretching mechanisms for precise motion. This segmentation allows each part to specialize - the first finger handles high loads without breakage risk, while the second finger provides the necessary degrees of freedom for precise operations.
Solution Approach 2:
The first finger serves multiple functions: it acts as a stable load-bearing structure during pushing and pulling operations, and simultaneously serves as a reference surface for the second finger to perform precise gripping and pinching operations. This multi-functionality resolves the contradiction by making one component serve both stability and precision needs.
2Productivity
If a large load is applied to perform pushing and pulling operations, then productivity improves, but the joint mechanism between hand base and finger breaks
Solution Approach 1:
Instead of making the finger movable and the hand base fixed, the invention inverts the conventional design by fixing the first finger to the hand base. This inversion allows the first finger to directly transmit large loads to the hand base without passing through a joint mechanism, eliminating the breakage risk while maintaining high load-bearing capability for pushing and pulling operations.
Solution Approach 2:
The joint mechanism is extracted from the connection between the first finger and hand base. By removing this potential failure point, the design eliminates the risk of breakage during high-load operations. The second finger retains its joint mechanisms for precise motion, while the first finger provides stable load transmission without joints.
3Volume of moving object
If the tip portion of the second finger is located closer to the hand base in closed state, then the size of the hand device is reduced, but the gripping range is limited
Solution Approach 1:
The hand device utilizes spatial arrangement in multiple dimensions. The first finger extends in a first direction from the hand base, while the second finger approaches from a different spatial position. This dimensional arrangement allows the closed state to be compact (tip of second finger closer to hand base) while still maintaining adequate gripping range through the coordinated motion of both fingers in different spatial dimensions.
Data Source
AI summary
A hand device includes: a hand base (40a); a first finger (40b) which extends from a tip of the hand base (40a) in a longitudinal direction while bending to the hand base (40a); a second finger (40c) attached to the hand base (40a) so as to face a surface of the hand base (40a) side of a tip of the first finger (40b); and a drive mechanism (40e) which actuates the second finger (40c) so that a tip of the second finger (40c) approaches or separates from the first finger (40b).