Adaptive Gripper Finger with Counter-Pivoting Tip
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Solution Overview
Problem
Existing grippers require active drive mechanisms to adjust fingertip positions, which can be complex and unreliable for gripping various objects, especially when adapting to different contours passively.
Innovation Solution
A gripper design featuring adaptive gripper fingers with a middle finger joint and a fingertip member that pivots counter to the middle finger joint's pivoting direction, using a rocker bar mechanism to adjust fingertip positions passively without a drive, allowing adaptation to object contours through a single degree of freedom enabled by the contact forces between the object and finger joints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If active drive mechanisms are used to adjust fingertip positions, then positioning precision is improved, but device complexity increases
Solution Approach 1:
The fingertip section is designed to automatically adjust its position through passive mechanical means. The counter-pivoting mechanism allows the fingertip to self-adjust its position based on the object's contour without requiring active drive mechanisms, thereby achieving positioning precision while reducing device complexity
Solution Approach 2:
The gripper employs a dynamic structure where the fingertip section can pivot relative to the finger middle section. This dynamic capability allows the fingertip to adapt to different object contours passively, eliminating the need for complex active drive mechanisms while maintaining positioning precision
2Adaptability or versatility
If active drive mechanisms are used to adjust fingertip positions, then adaptability is improved, but reliability decreases
Solution Approach 1:
The fingertip section automatically adapts to different object contours through passive mechanical means. The counter-pivoting mechanism enables the fingertip to self-adjust without active drives, improving reliability by eliminating potential failure points while maintaining high adaptability to various object shapes
Solution Approach 2:
The dynamic pivoting capability of the fingertip section allows it to adapt to different object contours passively. This dynamic adaptation mechanism improves reliability by removing complex active drive systems while preserving versatility across different gripping scenarios
3Adaptability or versatility
If multiple degrees of freedom are provided in gripper fingers, then adaptability is improved, but device complexity increases
Solution Approach 1:
The gripper finger is segmented into distinct sections: finger base section, finger middle section, and fingertip section. Each section has a specific function, with the fingertip section providing the adaptive degree of freedom through counter-pivoting. This segmentation achieves adaptability while keeping each segment's complexity manageable
Solution Approach 2:
The finger middle section is pivotably mounted on the finger base section, and the fingertip section is pivotably mounted on the finger middle section. This dynamic multi-segment structure provides adaptability through controlled degrees of freedom while maintaining manageable complexity through clear functional separation
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The gripper achieves a simple and reliable design by passively adjusting fingertip positions to fit different object contours, ensuring clear and reproducible object positioning and orientation, preventing external forces from displacing the gripped object.
Implementation Method 1
the abutment has a tilting bar against which a wall section of the fingertip segment opposite the second gripping surface rests in such a way that the fingertip segment rotates about a tilting axis due to the tilting bar when the middle finger segment is pivoted
Data Source
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AI summary
The invention relates to a gripper (11) having at least one gripper finger (16, 16.1, 16.2, 16.3), which has a finger main part (18) with a finger base section (18.1) facing the gripper main part (12) and with a finger end section (18.2) lying opposite the finger base section (18.1); a finger central element (19), which comprises a first gripping surface (19.1), a first bearing point (20.1), and a second bearing point (20.2) and the first bearing point (20.1) of which is pivotally mounted on the finger base section (18.1) of the finger main part (18) by means of a first joint (21); and a fingertip element (23), which comprises a second gripping surface (19.2) and which is pivotally mounted on the second bearing point (20.2) of the finger central element (19) by means of a second joint (22). The finger end section (18.2) has a counter bearing (24) on which the fingertip element (23) is supported such that the fingertip element (23) rotates opposite the pivoting direction of the finger central element (19) when the finger central element (19) is pivoted.