Slider-Type Wire Driver for Underactuated Glove Robots
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Solution Overview
Problem
Existing under-actuation robot actuation methods face challenges in managing frictional forces between tendons and surrounding components, leading to inefficient motion and potential damage, while also being costly to manufacture.
Innovation Solution
A slider-type wire driver with a simple structure featuring a support body, guide member, slider, actuation unit, and follower unit with follower bearings and pulleys, which minimizes friction by allowing slip between the tendon and surrounding components, and is integrated into a glove-type wearable robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If tension is applied to the tendon to actuate the robot, then the robot can be actuated, but friction force is generated between the tendon and surrounding components causing motion difficulties and wear
Solution Approach 1:
A pulley is introduced as an intermediary component between the tendon and the robot joint. The pulley rotates to change the direction of the tendon force, allowing the tendon to pull the joint without direct friction contact between the tendon and the joint structure. This mediator (pulley) transfers the force while eliminating harmful friction.
Solution Approach 2:
The direct mechanical connection between the tendon and the joint is replaced with a pulley-based mechanical system. Instead of the tendon dragging against the joint housing, the system uses rotational motion of the pulley to transmit force, substituting sliding friction with rolling friction which is significantly lower.
2Object-affected harmful factors
If the tendon is allowed to slip between the tendon and surrounding components, then friction is reduced, but the motion may not be made smoothly
Solution Approach 1:
The pulley serves as a mediator that allows controlled slippage. The tendon can slide over the pulley surface without causing harmful friction or damage, while the pulley's rotation ensures smooth force transmission. This controlled interface permits necessary movement while maintaining smooth operation.
3Ease of operation
If conventional tendon actuation is used, then the robot can be actuated, but the structure becomes complex and manufacturing cost increases
Solution Approach 1:
The complex friction management system is extracted and replaced with a simple pulley component. Instead of requiring sophisticated friction control mechanisms, the solution isolates the friction problem to a single, simple pulley element that can be easily manufactured and assembled, significantly reducing overall system complexity.
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 solution effectively reduces friction, improves the operational smoothness and lifespan of under-actuation robots, and lowers manufacturing costs by enabling efficient tendon actuation with fewer actuators.
Implementation Method 1
it is important to effectively manage the frictional force generated by the tendon. When it is configured to cause slip between the tendon and its surrounding components, due to the tension applied to the tendon and the friction force generated by the movement of the tendon
Data Source
AI summary
Provided are a slider-type wire driver for under-actuation and a glove-type wearable robot including the same. In particular, provided are a slider-type wire driver for under-actuation that has a structure suitable for actuating a robot in an under-actuation manner, has a simple structure, and enables effective operation, and a glove-type wearable robot including the same. A slider-type wire driver for under-actuation and a glove-type wearable robot including the same according to embodiments of the present disclosure, can effectively reduce friction between the tendon and the surrounding structure thereof, facilitating the operation of the under-actuation robot and improving the lifespan thereof. In addition, in the case of the slider-type wire driver for under-actuation and a glove-type wearable robot including the same according to the present disclosure, an actuator that applies tension to the tendon for under-actuation can be manufactured at a low price.