Telescopic Rotating-Tip Gripper for Cable Pre-Positioning
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Solution Overview
Problem
Existing grippers face challenges in gripping cables effectively due to difficulties in controlling robot end-effectors to appropriate position-attitudes without interference, necessitating complex inverse kinematics solutions.
Innovation Solution
A gripper with a rotating-fingertip and telescopic finger motor that performs a pushing-and-rotating operation to adjust the target's position-attitude before grasping, eliminating the need for inverse kinematics and interference checking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a robot controls its end effector to an aimed position-attitude for cable gripping, then gripping accuracy is improved, but the system requires complex inverse kinematics solving and interference checking
Solution Approach 1:
The gripper performs preliminary pushing and rotating operations on the cable before gripping to adjust the cable's position and attitude to a more favorable state. This preliminary action eliminates the need for complex inverse kinematics solving and interference checking, as the cable is pre-positioned for easy gripping
Solution Approach 2:
The gripper uses its own finger portion with rotating-fingertip to perform the preparing operation on the cable itself. The rotating-fingertip directly contacts and manipulates the cable to adjust its position-attitude, making the system self-sufficient without requiring complex external control
2Measurement precision
If a robot performs inverse kinematics solving to reach aimed position-attitude, then gripping precision is improved, but operation time is increased
Solution Approach 1:
The pushing-and-rotating operation is performed in advance to prepare the cable for gripping. By adjusting the cable's position and attitude beforehand, the system eliminates time-consuming inverse kinematics calculations during the actual gripping operation, reducing total operation time while maintaining precision
3Device complexity
If a gripper uses fixed finger structure for cable gripping, then device simplicity is maintained, but adaptability to different cable positions is reduced
Solution Approach 1:
The finger portion is equipped with a rotating-fingertip that can rotate and a telescopic mechanism that can extend or retract. This dynamic structure allows the gripper to adapt to cables at different positions and orientations while maintaining a relatively simple overall structure, avoiding the need for multiple fixed gripper configurations
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
Enables direct transition to grasping without solving inverse kinematics or checking for interference, improving gripping success in cable mounting tasks.
Implementation Method 1
a rotating motor that serves as a rotary power generator for the rotating-fingertip
Implementation Method 2
a telescopic finger motor that serves as a power generator that moves the rotating-fingertip in a direction in which the finger portion extends or retracts
Data Source
AI summary
The gripper according to the disclosed technology includes, finger portion, rotating-fingertip provided at the tip of the finger portion and directly contacts with a target, rotating motor that serves as a rotary power generator for the rotating-fingertip, and telescopic finger motor that serves as a power generator that moves the rotating-fingertip in the direction in which the finger portion extends or retracts, wherein, the rotating-fingertip performs pushing-and-rotating operation to the target as preparing operation before grasping.