Tendon Connector Plate for Robotic Gripper Wear Reduction
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Solution Overview
Problem
Existing robotic grippers with tendon-driven end effectors face issues with wear and friction, as well as complex and time-consuming maintenance processes due to the need for individual tendon routing and end cap assembly.
Innovation Solution
A tendon connector plate assembly is introduced, featuring first and second plates with boss openings and arcuate through-slots, which guides and secures flexible tendons, reducing wear and facilitating easier tendon replacement by eliminating the need for conventional end cap pieces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of repair
If conventional end cap pieces are used for tendon routing, then tendon connection is achieved, but device complexity and maintenance time increase
Solution Approach 1:
The patent merges the end cap piece with the tendon connector plate into a single integrated component. The end cap is formed as one piece with the connector plate, eliminating the need for separate end cap assembly and reducing overall device complexity while maintaining tendon routing functionality.
Solution Approach 2:
The tendon connector plate serves multiple functions simultaneously: it connects the tendon to the actuator, routes the tendon through the forearm, and provides structural support. This multi-functional design replaces what would traditionally require separate end cap pieces and routing structures.
2Manufacturing precision
If individual tendon routing is performed, then precise tendon path control is achieved, but manufacturing complexity and time increase
Solution Approach 1:
The tendon routing channels are pre-formed as integral features of the connector plate during manufacturing. The channels are built into the plate structure before assembly, so that during final assembly, the tendon simply needs to be placed into the pre-formed channels rather than requiring complex individual routing operations.
3Reliability
If flexible tendon is routed through conventional structures, then tendon actuation is achieved, but wear and friction increase
Solution Approach 1:
The patent uses a smooth, contoured connector plate structure with rounded channels that allow the flexible tendon to pass through with minimal friction. The plate's geometry is designed to reduce wear on the tendon by providing a smooth routing path without sharp edges or high-friction contact points.
Data Source
AI summary
A robotic system includes a tendon-driven end effector, a linear actuator, a flexible tendon, and a plate assembly. The linear actuator assembly has a servo motor and a drive mechanism, the latter of which translates linearly with respect to a drive axis of the servo motor in response to output torque from the servo motor. The tendon connects to the end effector and drive mechanism. The plate assembly is disposed between the linear actuator assembly and the tendon-driven end effector and includes first and second plates. The first plate has a first side that defines a boss with a center opening. The second plate defines an arcuate through-slot having tendon guide channels. The first plate defines a through passage for the tendon between the center opening and a second side of the first plate. A looped end of the flexible tendon is received within the tendon guide channels.