Self-Locking Robotic Finger Joints for Low-Power Grip Holding
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Solution Overview
Problem
Existing robotic finger technologies face challenges in maintaining a secure grip with low power consumption, especially in hazardous environments, as they often require continuous power to sustain the grip force, which can lead to power exhaustion and inefficiency.
Innovation Solution
The development of an articulated finger with self-locking joints utilizing a ratchet mechanism and a spring, allowing motion in one rotational direction while preventing motion in the opposite direction, combined with a compliant actuator to establish and release the grip, enabling the finger to maintain a grip force without continuous power input.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If continuous power is applied to maintain grip force, then the grip stability is improved, but the power consumption increases
Solution Approach 1:
The self-locking joint mechanism enables the articulated finger to maintain grip force autonomously without continuous power input. Once the actuator positions the finger, the ratchet-pawl mechanism automatically locks the position, allowing the system to serve itself by maintaining grip without additional energy consumption.
Solution Approach 2:
Power is applied periodically rather than continuously - the actuator activates only when grip adjustment is needed, then the self-locking mechanism maintains the position indefinitely without power. This converts continuous power requirement into periodic intermittent action.
2Use of energy by moving object
If a self-locking mechanism is added to reduce power consumption, then the power efficiency is improved, but the device complexity increases
Solution Approach 1:
The locking function is extracted as a separate mechanical subsystem (ratchet and pawl) independent from the actuator. This modular extraction allows the actuator to remain simple while the locking mechanism handles the power-saving function separately.
Solution Approach 2:
The continuous electrical control system is replaced with a mechanical self-locking system for position maintenance. The electrical actuator only provides intermittent positioning, while the mechanical ratchet-pawl system handles continuous position holding without power.
3Ease of manufacture
If the articulated finger uses traditional joints, then the ease of manufacture is improved, but the ability to maintain grip without power is worsened
Solution Approach 1:
The traditional rotational joint and the self-locking mechanism are merged into a single integrated unit. The ratchet gear is fixed to one phalange while the pawl is attached to the other, combining the articulation function with the locking function in one compact assembly that maintains both ease of manufacture and grip maintenance capability.
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 articulated finger can support loads and maintain a forceful grip with low power consumption, allowing for extended operation without energy consumption once the grip is established, suitable for applications in hazardous environments and unmanned vehicles.
Implementation Method 1
a self-locking joint coupling the first phalange to the second phalange. The self-locking joint is configured to allow motion in a first rotational direction of the first phalange relative to the second phalange and prevent motion in a second rotational direction
Implementation Method 2
utilizing a ratchet mechanism and a spring
Data Source
AI summary
An articulated finger. The articulated finger comprises a first phalange; a second phalange; a self-locking joint coupling the first phalange to the second phalange, wherein the self-locking joint is configured to allow motion in a first rotational direction of the first phalange relative to the second phalange and prevent motion in a second rotational direction of the first phalange relative to the second phalange, wherein the first rotational direction is opposite the second rotational direction; and a compliant actuator configured to actuate the first phalange in the first rotational direction relative to the second phalange.