Soft Robot Hand With Curved Base Actuator for Adaptive Gripping
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Solution Overview
Problem
Existing robot hands using McKibben fluid pressure actuators face challenges in efficiently adjusting the positional relationship between multiple finger actuators to adapt to various objects, limiting their gripping and movement capabilities.
Innovation Solution
A robot hand design incorporating a cylindrical base actuator, a frame member with expansion/contraction portions, and multiple finger actuators, where the base actuator and frame member are curved in response to internal pressure changes, allowing the finger actuators to change their positional relationship and improve gripping and movement performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple fluid pressure actuators are used to grip objects, then gripping capability is improved, but adjusting the positional relationship between actuators becomes complex and difficult
Solution Approach 1:
The patent combines multiple finger actuators with a common base actuator into an integrated hand mechanism. The base actuator controls the overall hand shape, while finger actuators are positioned along the curved base actuator, allowing coordinated movement and simplifying the adjustment of positional relationships between actuators for different gripping tasks.
Solution Approach 2:
The patent employs a dynamic structure where the base actuator can change its curvature to adapt the positional relationship between finger actuators. This dynamic reconfiguration allows the same actuator system to accommodate various object shapes and sizes without complex manual adjustments, improving adaptability while maintaining structural simplicity.
2Adaptability or versatility
If the base actuator is curved to adjust finger positions, then adaptability to different objects is improved, but the structural complexity increases
Solution Approach 1:
The patent uses a flexible base actuator that can naturally curve and deform to adjust the positional relationship between finger actuators. This flexible structure eliminates the need for complex mechanical linkages or adjustable mechanisms, achieving adaptability through inherent material properties rather than complex structural design.
3Stability of the object's composition
If the frame member is made rigid to support actuators, then structural stability is improved, but the ability to conform to actuator curvature is reduced
Solution Approach 1:
The patent employs a frame member with variable stiffness characteristics - rigid enough to provide structural support and stability, but with specific portions designed to be flexible enough to conform to the curved shape of the base actuator. This parameter optimization allows the frame to maintain stability while adapting to the dynamic curvature changes needed for different gripping 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
The design enables easy adjustment of the positional relationship between finger actuators, enhancing the robot hand's ability to grip and move objects based on their location and shape, with balanced operation and simple manufacturing through the use of leaf springs and integrally molded components.
Implementation Method 1
a cylindrical base actuator that is contracted in a cylinder-axial direction and is curved on one side of a cylinder wall depending on an increase in internal pressure in a cylinder
Implementation Method 2
a cylindrical base actuator that is contracted in a cylinder-axial direction and is curved on one side of a cylinder wall depending on an increase in internal pressure in a cylinder
Data Source
AI summary
A robot hand includes: a cylindrical base actuator that is contracted in a cylinder-axial direction and is curved on one side of a cylinder circumference depending on an increase in internal pressure in a cylinder; a frame member that is disposed along the base actuator in the cylinder-axial direction, supports the base actuator, has an expansion/contraction portion which is expanded and contracted conforming to curved deformation of the base actuator; and plural cylindrical finger actuators that are attached to the frame member at intervals in an extension direction of the base actuator to have one end fixed to the frame member and the other end being a free end so that the finger actuators extend in a direction intersecting the cylinder-axial direction, and that are each contracted and curved in a cylinder-axial direction on one side of a cylinder circumference depending on an increase in internal pressure in a cylinder.