Gear-linkage driven modular robotic hand

Modular robot hand featuring abduction and flexion via constant velocity joints and bevel/spur gear linkages

This technology utilizes a combination of constant velocity joints, bevel gears, spur gears, and link mechanisms to achieve abduction/adduction (A/A) and flexion/extension of finger modules. By housing the drive module within the palm and utilizing gear ratios for dependent joint actuation, the design ensures both miniaturization and operational stability.

Tendon-driven systems often face maintenance challenges due to tension fluctuations, while direct-drive systems suffer from increased robot hand size due to the placement of motors and reduction gears.

This technology uses constant velocity joints to eliminate interference between flexion/extension and abduction/adduction movements. The gear linkage structure allows the motors to be integrated into the palm module, enabling a size comparable to a human hand. Suitable for manufacturing automation, service robots, and humanoids, it provides a compact, stable, and low-maintenance alternative to tendon-driven systems.

‍

‍

Key Features:

• A first linkage module comprising a first linkage unit for the abduction/adduction (A/A) of the first finger module, and a second linkage unit for the flexion/extension of the first finger module.
• A second linkage module comprising a third linkage unit for the A/A of the second finger module, and a fourth linkage unit for the flexion/extension of the second finger module.
• At least two or more first finger modules detachably coupled to one side of the palm module.
• A drive module providing motive power to the first and second linkage modules.

‍

This invention was developed with support from the Ministry of Trade, Industry and Energy for the development of robot manipulation control technology capable of grasping, manipulating, and using various objects in daily life environments based on multimodal perception.