Segmented Robot Fingers for Flexible Multi-Mode Gripping
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Solution Overview
Problem
Conventional manipulators lack flexibility to perform complex operations, limiting their ability to adapt to various clamping tasks effectively.
Innovation Solution
A manipulator design featuring multiple mechanical fingers with independent drive devices for each segment, allowing for various motion modes such as flat clamping, enveloping clamping, and rubbing, enabling more flexible and intelligent object gripping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a manipulator uses a simple clamping structure, then the device complexity is reduced, but the adaptability and flexibility to perform complex operations deteriorate
Solution Approach 1:
The manipulator's fingers are divided into multiple independent segments (first finger segment, second finger segment, third finger segment), each capable of independent movement controlled by separate motors. This segmentation allows each segment to perform specific functions while maintaining overall system flexibility without requiring a completely complex monolithic structure
Solution Approach 2:
The finger segments are designed with movable connections that allow dynamic adjustment of positions and orientations. The manipulator can switch between different motion modes (flat clamping, enveloping clamping, rubbing) by dynamically reconfiguring the relative positions of finger segments, enhancing adaptability without permanent structural complexity
2Adaptability or versatility
If a manipulator has multiple finger segments with independent drive devices, then the flexibility and adaptability are improved, but the device complexity increases
Solution Approach 1:
Multiple finger segments with independent drive devices enable the manipulator to perform multiple functions including flat clamping, enveloping clamping, and rubbing operations. The same basic structure (motor + finger segment) is reused across different segments, providing versatility without proportionally increasing complexity through novel components
Solution Approach 2:
The finger segments are arranged in a nested configuration where smaller segments can be positioned within or alongside larger segments. This nesting allows multiple degrees of freedom to be achieved in a compact arrangement, reducing spatial complexity while maintaining the flexibility benefits of multiple independent segments
3Extent of automation
If a manipulator provides the same number of degrees of freedom as finger segments, then the intelligence and autonomous gripping capability are improved, but the device complexity increases
Solution Approach 1:
The manipulator is equipped with sensors that enable it to detect and sense objects autonomously. The system can independently determine motion modes and adjust finger segment positions without external intervention, achieving intelligent autonomous gripping. The structure provides sufficient degrees of freedom for the system to self-regulate and adapt to different objects
Solution Approach 2:
The manipulator incorporates sensing capabilities that provide feedback about object position, orientation, and contact forces. This feedback is used by the control system to adjust the motion of finger segments in real-time, enabling autonomous adaptation to different gripping scenarios. The feedback loop allows the system to achieve high-level automation without requiring overly complex mechanical structures
Data Source
AI summary
A manipulator is provided. The manipulator includes at least two mechanical fingers. Each of the at least two mechanical fingers includes a first finger segment, a second finger segment, and a third finger segment, a bottom portion of the third finger segment of the respective mechanical finger is movably connected to a top portion of the second finger segment of the respective mechanical finger, and a bottom portion of the second finger segment of the respective mechanical finger is movably connected to a top portion of the first finger segment of the respective mechanical finger. The manipulator further includes a finger driving assembly for each of the at least two mechanical fingers. The finger driving assembly for each of the at least two mechanical fingers includes a plurality of motors that are configured to drive a different one of the finger segments of the respective mechanical finger.