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EP-4234183-B1 - ROBOTIC END EFFECTOR WITH DORSALLY SUPPORTED ACTUATION MECHANISM

EP4234183B1EP 4234183 B1EP4234183 B1EP 4234183B1EP-4234183-B1

Inventors

  • SMITH, FRASER M.
  • MACLEAN, BRIAN J.

Dates

Publication Date
20260513
Application Date
20191230

Claims (13)

  1. A robotic end-effector (10), comprising: an anthropomorphic hand (14) comprising: a palm (18) with a palmar side (22) and a dorsal side (26); fingers (30, 32, 34) pivotally coupled to the palm (18) and pivotal between extension and flexion; and a thumb (38) pivotally coupled to the palm (18) and pivotal between abduction and adduction, and also pivotal between extension and flexion, each of the fingers (30, 32, 34) and the thumb (38) comprising phalanges comprising at least: a proximal phalanx (72) pivotally coupled to the palm (18) at a metacarpo-phalangeal joint (76); a distal phalanx (84) pivotal with respect to the proximal phalanx (72) about a distal joint (88); and a ventral side (22) and a dorsal side (26); and a dorsal actuation system (42) for actuating the fingers (30, 32, 34) and the thumb (38), the dorsal actuation system (42) being supported on the dorsal side (26) of the palm (18) and the dorsal sides (26) of the fingers (30, 32, 34) and the thumb (38), the dorsal actuation system (42) comprising: actuators (46, 50, 52) associated with each of the fingers (30, 32, 34) and the thumb (38), respectively, each actuator (46, 50, 52) being supported on the palm (18); proximal bell cranks (92) associated with each of the fingers (30, 32, 34) and the thumb (38), respectively, each proximal bell crank (92) being pivotally coupled to the palm (18) along with the proximal phalanx (72) of each of the fingers (30, 32, 34) and the thumb (38), respectively; and proximal dorsal links (96) associated with each of the fingers (30, 32, 34) and the thumb (38), respectively, each proximal dorsal link (96) being pivotally coupled between the proximal bell crank (92) and the distal phalanx (84) of each finger (30, 32, 34) and the thumb (38), respectively, and positioned at the dorsal side of the proximal phalanx (72) of each finger (30, 32, 34) and the thumb (38), respectively, wherein the actuators (46, 50, 52) are operable to extend the proximal bell cranks (92) and the proximal dorsal links (96) to pivot the proximal and distal phalanges (72, 84) in flexion, and wherein either: (a) the actuators (46) associated with each of the fingers (30, 32, 34) are positioned on the dorsal side (26) of the palm (18) to be parallel with a corresponding finger (30, 32, 34) but offset from the corresponding finger (30, 32, 34); (b) each actuator (46) is positioned on the dorsal side (26) of the palm (18), wherein the distal phalanx (84) of each of the fingers (30, 32, 34) and the thumb (38) comprises a respective protrusion (100) extending therefrom at the distal joint (88), the proximal dorsal links (96) of the fingers (30, 32, 34) and the thumb (38), respectively, being pivotally coupled to the protrusions (100), respectively; or (c) each actuator (46) is positioned on the dorsal side (26) of the palm (18), wherein the dorsal actuation system (42) further comprises metacarpo-phalangeal springs (104) associated with each of the fingers (30, 32, 34) and the thumb (38), respectively, each metacarpo-phalangeal spring (104) being coupled to the metacarpo-phalangeal joint (76) and biasing the proximal phalanx (72) of each of the fingers (30, 32, 34) and the thumb (38), respectively, in extension, and a distal springs (108) associated with each of the fingers (30, 32, 34) and the thumb (38), the distal springs (108) being coupled to the distal joint (88) and biasing the distal phalanx (84) of each of the fingers (30, 32, 34) and the thumb (38), respectively, in extension.
  2. A robotic end-effector (10), comprising: an anthropomorphic hand (14) comprising: a palm (18) with a palmar side (22) and a dorsal side (26); fingers (30, 32, 34) pivotally coupled to the palm (18) and pivotal between extension and flexion, each of the fingers (30, 32, 34) comprising: a proximal phalanx (72) pivotally coupled to the palm (18) at a metacarpo-phalangeal joint (76); a distal phalanx (84) pivotal with respect to the proximal phalanx (72) about a distal joint (88); and a ventral side (22) and a dorsal side (26); and a thumb (38) pivotally coupled to the palm (18) and pivotal between abduction and adduction, and also pivotal between extension and flexion, the thumb (38) comprising: a yoke (130) pivotally coupled to the palm (18); a proximal phalanx (72) pivotally coupled to the yoke (130) at a metacarpo-phalangeal joint (76); a distal phalanx (84) pivotal with respect to the proximal phalanx (72) about a distal joint (88); and a ventral side (22) and a dorsal side (26), and a dorsal actuation system (42) for actuating the fingers (30, 32, 34) and the thumb (38), the dorsal actuation system (42) being supported on the dorsal side (26) of the palm (18) and the dorsal sides (26) of the fingers (30, 32, 34) and the thumb (38), the dorsal actuation system (42) comprising: actuators (46) associated with each of the fingers (30, 32, 34), respectively, each actuator (46) being supported on the palm (18) and positioned on the dorsal side (26) of the palm (18); proximal bell cranks (92) associated with each of the fingers (30, 32, 34), respectively, each proximal bell crank (92) being pivotally coupled to the palm (18) along with the proximal phalanx (72) of each of the fingers (30, 32, 34), respectively; proximal dorsal links (96) associated with each of the fingers (30, 32, 34), respectively, each proximal dorsal link (96) being pivotally coupled between the proximal bell crank (92) and the distal phalanx (84) of each finger (30, 32, 34), respectively, and positioned at the dorsal side (26) of the proximal phalanx (72) of each finger (30, 32, 34), respectively, wherein the actuators (46) are operable to extend the proximal bell cranks (92) and the proximal dorsal links (96) to pivot the proximal and distal phalanges (72, 84) in flexion; a first thumb actuator (50) supported on the yoke (130) and coupled to the proximal phalanx (72) of the thumb (38), the first thumb actuator (50) being operable to pivot the proximal phalanx (72) and the distal phalanx (84) of the thumb (38) about a first axis (122) in extension/flexion; a second thumb actuator (52) supported on the dorsal side (26) of the palm (18) and coupled to the yoke (130), the second thumb actuator (52) being operable to pivot the yoke (130) about a second axis (126) to pivot the yoke (130), the proximal phalange (72), and the distal phalange (84) of the thumb (38) in an abduction/adduction direction between retroposition and anteposition.
  3. The robotic end-effector (10) of any one of claims 0 or 2, wherein all actuation components of the fingers (30, 32, 34) and the thumb (38) are supported on the robotic end-effector (10) including all actuators (46, 50, 52) and all links coupled to the fingers (30, 32, 34) and the thumb (38).
  4. The robotic end-effector (10) of any one of claims 0, or 2, further comprising a releasable attachment interface (56) at a proximal end of the palm (18) configured to releasably attach the robotic end-effector (10) to a robotic arm, without an actuator or actuator link spanning across the releasable attachment interface (56), and defining a modular robotic end-effector (10).
  5. The robotic end-effector (10) of claim 1, wherein the proximal phalanx (72) of the thumb (38) has a pair of pivots with respect to the palm including a first pivot (122) in which the thumb (38) is operable to pivot in abduction/adduction and a second pivot (126) in which the proximal phalanx (72) of the thumb (38) is operable to pivot in flexion/extension.
  6. The robotic end-effector (10) of claim 0, wherein thumb (38) is movable between retroposition and anteposition.
  7. The robotic end-effector (10) of claims 0, wherein the actuators comprise a pair of thumb actuators (50, 52) associated with the thumb.
  8. The robotic end-effector (10) of claim 7, wherein the thumb (38) further comprises a yoke (130) pivotally coupled to the palm (18), and the proximal phalanx (72) of the thumb (38) is pivotally coupled to the yoke (130); a first thumb actuator (50) of the pair of thumb actuators is supported on the yoke (130) and coupled to the proximal phalanx (72) of the thumb (38), the first thumb actuator (50) being operable to pivot the proximal phalanx (72) and the distal phalanx (84) of the thumb (38) about a first axis (122) in extension/flexion; and a second thumb actuator (52) of the pair of thumb actuators is supported on the dorsal side (26) of the palm (18) and coupled to the yoke (130), the second thumb actuator (52) being operable to pivot the yoke (130) about a second axis (126) to pivot the yoke (130), the proximal phalange (72), and the distal phalange (84) of the thumb (38) in an abduction/adduction direction between retroposition and anteposition.
  9. The robotic end-effector (10) of any one of claims 0, or 2, wherein the distal phalanx (84) of each of the fingers (30, 32, 34) and the thumb (38) comprises a respective protrusion (100) extending therefrom at the distal joint (88), the proximal dorsal links (96) of the fingers (30, 32, 34) and the thumb (38), respectively, being pivotally coupled to the protrusions (100), respectively.
  10. The robotic end-effector (10) of any one of claims 0, or 2, wherein the dorsal actuation system (42) further comprises metacarpo-phalangeal springs (104) associated with each of the fingers (30, 32, 34) and the thumb (38), respectively, each metacarpo-phalangeal spring (104) being coupled to the metacarpo-phalangeal joint (76) and biasing the proximal phalanx (72) of each of the fingers (30, 32, 34) and the thumb (38), respectively, in extension, and distal springs (108) associated with each of the fingers (30, 32, 34) and the thumb (38), respectively, the distal springs (108) being coupled to the distal joint (88) and biasing the distal phalanx (84) of each of the fingers (30, 32, 34) and the thumb (38), respectively, in extension.
  11. The robotic end-effector (10) of any one of claims 0, or 2, wherein each of the fingers (30, 32, 34) further comprises: a middle phalanx (162) pivotally coupled to the proximal phalanx (72) at a proximal joint (166) and to the distal phalanx (84) at the distal joint (88); and wherein the dorsal actuation system (42b) further comprises: middle bell cranks (170) associated with each of the fingers (30, 32, 34), respectively, each middle bell crank (170) being pivotally coupled to the proximal phalanx (72) at the proximal joint (166) along with the distal phalanx (84) of the fingers (30, 32, 34), respectively; and middle links (174) associated with each of the fingers (30, 32, 34), respectively, each middle link (174) being pivotally coupled to and between each middle bell crank (170), respectively, and each distal phalanx (84), respectively, of the fingers (30, 32, 34), and being positioned at the dorsal side (26) of each middle phalanx (162) of the fingers (30, 32, 34), respectively.
  12. The robotic end-effector (10) of any one of claims 0, or 2, wherein either: (a) the robotic end-effector (10) further comprises a guard (140) disposed over the dorsal side (26) of the palm (18) and over one or more of the actuators (46, 50); or (b) at least one of the actuators (46) is disposed at least partially within an envelope of the hand (14), and at least one of actuators (50, 52) is disposed outside the envelope of the hand (14).
  13. The robotic end-effector (10) of any one of claims 1, or 2, wherein the actuators (46) associated with each of the fingers (30, 32, 34) are positioned on the dorsal side (26) of the palm (18) to be parallel with a corresponding finger (30, 32, 34) but offset from the corresponding finger (30, 32, 34).

Description

BACKGROUND Robotic hands or grippers typically require numerous degrees of freedom and elaborate control methodologies to compete with the versatility and effectiveness of the human hand. Robotic hands have been developed to generate high grasping forces by providing remote actuation. Independent actuation of every finger joint can lead to designs that are bulky, fragile and complicated. The development of robotic hands or grippers is an ongoing endeavor. WO 2017/159504 A1 discloses a hand mechanism configured to be able to grip an object to be gripped with a plurality of finger units, the hand mechanism comprising a hand main body unit that makes gripping in a first gripping state and gripping in a second gripping state possible, a thumb unit that comprises a first drive transmission unit that revolves the thumb unit about the hand main body unit between a gripping position in the first gripping state and a gripping position in the second gripping state with a first actuator and a second drive transmission unit that bends the thumb unit with respect to the hand main body unit with a second actuator, an operation finger unit that comprises a third drive transmission unit that performs bending with a third actuator and a fourth drive transmission unit that performs bending with a fourth actuator, and an auxiliary finger unit comprising a fifth drive transmission unit that bends the auxiliary finger unit with respect to the hand main body unit with a fifth actuator. KR 2018 0128731 A discloses a hydraulic gripper for driving a plurality of finger units to grip an object by using a hydraulic actuator including: a first actuator including a first cylinder unit and a second cylinder unit formed in a direction opposite to a direction of the first cylinder unit; first and second pistons installed in the first and second cylinder units, respectively; and first and second finger units installed at ends of the first and second pistons, respectively, wherein inner ends of the first and second cylinder units, which are opposed to each other, communicate with each other, and the first and second cylinders have an identical sectional area. US 5 967 580 A discloses a pair of connected joints in a master-slave robotic system each operated by a plurality of force imparting means. JP H08 126984 A discloses a compact structure, in a link device in which plural links allowable to move relatively and connected in order; and plural fluid pressure actuators attached to the links; and in an artificial hand furnishing the above link device. CN 101 214 653 A discloses a variable holding power underactuated modularised anthropomorphic robot multi-finger hand device with belt wheels mainly comprises a thumb, a index finger, a middle finger, a ring finger, a little finger and a palm; the structures of the middle finger, the ring finger, the little finger and the index finger are the same, and each finger applies a motor to drive three joints to rotate; the palm applies a motor to drive the root of the thumb to sway sidewise and rotate, and the thumb applies a motor to drive two joints to rotate. JP 2004 041279 A discloses a first link, a second link, and a third link connected to be sequentially rotatable, and one end of a hook-shaped fourth link is connected to the third, the other end of the fourth link to one end of a fifth link, a corner part of the fourth link to the first link rotatably, constituting the combined four-joint link. CN 101 486 191 B discloses a position-variable under-actuated robot hand device, having five independent control fingers and 15 joint degrees of freedom and is driven by 10 motors, wherein the middle finger, the third finger, the litter finger and the forefinger have the same structure and adopt double motor-driven three-joint rotation, and the thumb is capable of swinging laterally and adopts double motor-driven three-joint rotation. The invention is defined by the features of independent claims 1 and 2. Preferred embodiments are defined by the dependent claims. BRIEF DESCRIPTION OF THE DRAWINGS Features and advantages of the invention will be apparent from the detailed description which follows, taken in conjunction with the accompanying drawings, which together illustrate, by way of example, features of the invention; and, wherein: FIG. 1a is a front perspective view of a robotic end-effector, namely a semi-anthropomorphic hand, with a dorsal actuation system in accordance with an example.FIG. 1b is a rear perspective view of the robotic end-effector of FIG 1a.FIG. 2a is a side view of the robotic end-effector of FIG 1a.FIG. 2b is an opposite side view of the robotic end-effector of FIG. 1a.FIG. 3 is a front view of the robotic end-effector of FIG. 1a.FIG. 4 is a top or dorsal view of the robotic end-effector of FIG. 1a.FIG. 5 is a bottom or palmar view of the robotic end-effector of FIG. 1a.FIG. 6 is an end view of the robotic end-effector of FIG. 1a.FIG. 7 is a side view of the robotic end-effector