Cable Synchronized Gripper Jaws
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Solution Overview
Problem
Existing grippers with synchronized jaw motion mechanisms are bulky, heavy, and costly due to their design, which increases the physical size and manufacturing expenses.
Innovation Solution
A gripper utilizing a cable synchronizing mechanism with pulleys and a polymer cable, where the cable is affixed to prevent relative movement and pretensioned to reduce force excursions, allowing for synchronized jaw motion with reduced size, weight, and cost.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional racks and pinions or pinned linkages are used to synchronize jaw motion, then jaw synchronization is achieved, but the physical size, weight, and manufacturing cost of the gripper increase
Solution Approach 1:
The patent replaces traditional mechanical synchronization mechanisms (racks and pinions or pinned linkages) with a cable-based synchronization system. The cable runs through both actuators and pulleys to mechanically link the movement of the first and second jaws, achieving synchronized motion with significantly reduced weight and complexity compared to conventional mechanical systems.
2Reliability
If traditional racks and pinions or pinned linkages are used to synchronize jaw motion, then jaw synchronization is achieved, but the physical size and manufacturing cost of the gripper increase
Solution Approach 1:
The patent replaces complex mechanical synchronization mechanisms with a simpler cable-based system that is easier to manufacture and assemble. The cable and pulley mechanism requires fewer precision-machined components and can be implemented with standard off-the-shelf parts, reducing manufacturing costs while maintaining synchronization reliability.
Solution Approach 2:
The patent uses a flexible cable instead of rigid mechanical linkages to achieve jaw synchronization. This flexible cable system reduces the need for heavy structural components and complex assembly procedures, making the gripper more cost-effective to manufacture while maintaining the ability to synchronize jaw movements.
3Weight of stationary object
If a cable synchronizing mechanism is used, then the gripper size and weight are reduced, but the cable must be affixed to prevent relative movement
Solution Approach 1:
The patent employs a flexible cable that passes through channels in the actuators and is secured at specific locations to prevent relative movement between the cable and actuator components. This approach maintains the weight and size benefits of the cable system while providing a practical solution for preventing cable slippage through simple attachment features integrated into the actuator design.
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 synchronized jaw motion with a smaller, lighter, and less expensive design, improving the ability to center gripped workpieces while reducing fatigue and increasing stiffness, using a polymer cable that offers improved resistance to fatigue and corrosion.
Implementation Method 1
A cable is affixed to the first pin to inhibit relative movement between the cable and the first pin. A pair of pulleys is attached to the main body. The cable forms a closed loop around the pair of pulleys through the first channel and the second channel.
Data Source
AI summary
A gripping device including a main body, a first elongate actuator, a second elongate actuator, a first jaw, a second jaw, a first pin, a second pin, a pair of pulleys, and a cable. The elongate actuators are both disposed in respective actuator bores within the main body and translate opposingly to each other. The jaws are both driven by a respective elongate actuator. The pins both include respective pin bodies defining a channel and are configured to drive their respective jaw by a respective elongate actuator and are disposed through transverse holes formed in the respective elongate actuator and a respective pin slot formed in the main body. The pulleys are attached to the main body. The cable forms a closed loop around the pulleys through the channels and is affixed to the first channel to inhibit relative movement between the first channel and the cable.