Underactuated Humanoid Robot End Effector With Integrated Four-DOF Thumb
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Solution Overview
Problem
Current humanoid robots lack a mechanical end effector that can mimic the dexterity, strength, and versatility of a human hand while maintaining energy efficiency, cost-effectiveness, and durability, especially in dynamic and unpredictable environments.
Innovation Solution
An underactuated end effector for humanoid robots, featuring a frame with removably connected finger and thumb assemblies, utilizing two motors to achieve four degrees of freedom through direct drive linkages and nested components, eliminating the need for multiple biasing members and reducing complexity by containing all necessary components within the thumb assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple motors and actuators are used to achieve four degrees of freedom in the thumb assembly, then the dexterity and versatility are improved, but the device complexity and manufacturing cost increase
Solution Approach 1:
The patent combines multiple functions into a single integrated thumb assembly that contains all necessary components (motors, gears, linkages) for achieving four degrees of freedom. This merging approach reduces the number of separate actuators needed while maintaining full dexterity, directly resolving the contradiction between versatility and complexity
Solution Approach 2:
The thumb assembly is designed as a universal unit that can perform multiple functions (opposition, abduction, adduction, flexion) through its integrated mechanism. This multi-functionality eliminates the need for separate dedicated actuators for each degree of freedom, reducing overall system complexity while preserving adaptability
2Adaptability or versatility
If multiple biasing members and external actuators are used, then the functional capability is improved, but the manufacturing cost and assembly complexity increase
Solution Approach 1:
The patent extracts and eliminates unnecessary components such as multiple biasing members and external actuators from the system. By removing these redundant elements while retaining essential functionality within the integrated thumb assembly, the design reduces manufacturing cost and simplifies assembly processes
Solution Approach 2:
The thumb assembly is designed to be self-contained with all necessary components integrated within it, eliminating the need for external actuators and multiple biasing members. This self-service approach reduces manufacturing complexity and cost while maintaining full functional capability
3Device complexity
If a compact design with integrated components is used, then the device complexity is reduced, but the dexterity and precision control may be compromised
Solution Approach 1:
The patent employs a nested arrangement where gears, linkages, and motors are integrated within the thumb assembly in a compact hierarchy. This nesting allows multiple components to coexist in a confined space without compromising their individual functions, maintaining dexterity while reducing overall complexity
Data Source
AI summary
The present disclosure provides an underactuated end effector for a humanoid robot. The end effector includes a frame, a plurality of finger assemblies removably connected to the frame, and a thumb assembly removably connected to the frame. Each finger assembly includes a finger motor assembly. The thumb assembly includes a first thumb motor with a first thumb motor shaft configured to rotate about a first motor shaft axis, and a first motor gear connected to the first thumb motor shaft. The thumb assembly also includes a second thumb motor with a second thumb motor shaft configured to rotate about a second motor shaft axis, and a second motor gear connected to the second thumb motor shaft. The first motor shaft axis is substantially parallel to the second motor shaft axis, and the first motor gear axis is substantially parallel to the second motor gear axis.