Semi-Rigid Tubular Phalanges for Gentle Grasping
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Solution Overview
Problem
Existing mechanical fingers, particularly those with rigid phalanges, are impractical for domestic applications due to their inability to handle fragile objects and lack of flexibility, which limits their usability in environments requiring gentle object manipulation.
Innovation Solution
A mechanical finger design featuring semi-rigid phalanges with tubular bodies and a skeleton member made of semi-rigid material with rigid reinforcements, allowing for pivoting motion and compliant isotropic flexibility, enabling gentle grasping and manipulation of objects without causing damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid phalanges are used in mechanical fingers, then the mechanical finger can support substantial weights and maintain structural strength, but it cannot handle fragile objects and lacks flexibility for gentle manipulation
Solution Approach 1:
The patent changes the material parameter from rigid to semi-rigid, allowing the phalanges to exhibit both strength and flexibility. The semi-rigid material enables the mechanical finger to support weights while also deforming gently to handle fragile objects without damage.
Solution Approach 2:
The patent employs composite construction with a skeleton member made of semi-rigid material and rigid reinforcements embedded within. This composite structure combines the strength of rigid materials with the flexibility of semi-rigid materials, resolving the contradiction between weight support and gentle handling capability.
2Stability of the object's composition
If rigid phalanges are used in mechanical fingers, then the mechanical finger maintains structural stability, but it causes damage to fragile objects during grasping
Solution Approach 1:
The patent modifies the material parameter from rigid to semi-rigid, enabling the phalanges to maintain structural stability while adapting their hardness to prevent damage to fragile objects. The semi-rigid material provides a balance between stability and gentleness.
Solution Approach 2:
The semi-rigid material inherently provides cushioning effect before contact with objects. This prior cushioning capability allows the mechanical finger to absorb impact and distribute forces gently, preventing damage to fragile objects while maintaining structural integrity.
3Adaptability or versatility
If articulated phalanges are used to simulate human finger motion, then the mechanical finger can perform various grasping actions, but it remains impractical for domestic applications with fragile objects
Solution Approach 1:
The patent changes the material parameter of the articulated phalanges from rigid to semi-rigid, enabling the mechanical finger to maintain its versatile grasping capability while adding the ability to handle fragile objects gently. The semi-rigid material allows adaptation to different object types and fragility levels.
Data Source
AI summary
A mechanical finger comprises at least two phalanges. The phalanges have tubular bodies made of a semi-rigid material. One phalange is adapted to be secured to a base. Another phalange is connected to an adjacent phalange for pivoting movement with respect to the adjacent phalange. A skeleton member in the tubular bodies of the phalanges moves to actuate the pivoting motion of the phalanges with respect to one another. The skeleton member is connected to a degree of actuation to cause the pivoting motion of the phalanges with respect to one another. An assembly is also provided. The assembly comprises at least two of the mechanical finger, a palm actuator comprising a base for connection of the base phalange of each mechanical finger, and at least one degree of actuation connected to the skeleton member. The degree of actuation causes a grasping movement of the mechanical fingers.