Robot Gripper

Single-Actuator Adaptive Robot Gripper Using Magnetic Gear Non-Contact Power Transmission

This technology is an underactuated robot gripper that utilizes a single motor and a magnetic-based non-contact power transmission mechanism. It drives multiple fingers with a single actuator and performs adaptive grasping tailored to an object's shape through a complex kinematic structure incorporating worm gears and magnetic gears.

Conventional robot hands have been difficult to apply to service robots due to complex control requirements and high costs, while simple industrial grippers have limitations in flexibly grasping objects of various shapes.

This technology proposes a method that transmits motor power to the output shaft of each finger via a set of magnetic and worm gears, utilizing torsion springs and multi-stage link structures to allow finger joints to bend according to the object's shape upon contact. This enables adaptive grasping with only a single actuator. It can be applied to service robots, logistics picking, and daily assistance robots, significantly reducing the production cost of robot hands while maintaining high grasping performance.

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Key Features:

• Multiple fingers configured by sequentially connecting a first link, a second link, and a third link that are pivotably coupled to a base
• A gripping unit in which at least one pair of fingers are arranged to face each other in a staggered manner with an object in between
• A single motor provided on the base that generates rotational power to grip or release objects with each finger
• A power transmission unit that delivers motor power to each finger and an adaptive grasping structure that bends the fingers to match the object's shape

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This invention was developed with support from the Ministry of Trade, Industry and Energy for recognition technology and grippers capable of high-mix random piece picking.