Double-Acting Modular Articulating Gripper for Shape Adaptation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing grippers are limited to gripping a single shape of workpiece, requiring tool replacement for non-compatible shapes, leading to increased downtime and reduced throughput.
Innovation Solution
A double-acting modular gripper with pivotally connected segments and a tendon system that allows for bi-directional movement, enabling the gripper to adapt to various shapes and increase gripping force through an array of grippers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If tooling is constructed with a complimentary contacting surface profile to encapsulate the workpiece, then gripping reliability is improved, but adaptability to different workpiece shapes deteriorates
Solution Approach 1:
The gripper is divided into multiple modular segments (proximal segment, intermediate segments, distal segment) that can independently articulate. Each segment contains its own actuator and tendon system, allowing the gripper to wrap around different workpiece shapes while maintaining reliable contact at each segment interface
Solution Approach 2:
The gripper employs dynamic articulation capabilities where each segment can rotate relative to adjacent segments through actuators and tendons. This dynamic configuration allows the gripper to adapt its shape in real-time to match different workpiece geometries, maintaining encapsulation and gripping reliability across multiple workpiece types
2Manufacturing precision
If tooling is designed for a single workpiece shape, then gripping precision is improved, but productivity deteriorates due to tool replacement downtime
Solution Approach 1:
The modular articulating gripper is designed as a universal tool that can grip multiple workpiece shapes without requiring replacement. The combination of segmented architecture and active articulation control enables a single gripper to perform the function of multiple specialized grippers, eliminating tool change downtime while maintaining precise gripping contact
Solution Approach 2:
The gripper's ability to dynamically reconfigure its shape through segment articulation allows it to maintain optimal gripping precision across different workpiece geometries. This dynamic adaptation eliminates the need for tool replacement between different workpiece types, thereby increasing throughput and productivity
3Device complexity
If single-acting fluid power system is used, then device complexity is reduced, but gripping force in both directions deteriorates
Solution Approach 1:
The tendon system serves a dual function: it transmits actuator force to articulate segments during gripping motion, and simultaneously provides restorative force to return segments to their neutral position. This self-service mechanism eliminates the need for separate return springs or additional actuators, maintaining low device complexity while achieving effective bi-directional force control
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 effectively encapsulates diverse workpiece shapes with enhanced gripping force, reducing downtime and increasing throughput by allowing multiple grippers to be easily arrayed for increased force application.
Implementation Method 1
at least one actuator; a yoke coupled to the at least one actuator and configured to be moved in opposing directions by the at least one actuator
Implementation Method 2
at least one tendon coupled to the distal segment at two different coupling points and coupled to the yoke
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A gripper for gripping a workpiece includes: a base; at least one middle segment pivotally connected to the base; a distal segment pivotally connected to the at least one middle segment; at least one actuator; a yoke coupled to the at least one actuator and configured to be moved in opposing directions by the at least one actuator; and at least one tendon coupled to the distal segment at two different coupling points and coupled to the yoke. The at least one middle segment and the distal segment are configured to pivot clockwise as the at least one actuator moves the yoke in a first direction and to pivot counterclockwise as the at least one actuator moves the yoke in a second direction which is opposite to the first direction.