Compliant Gripper Finger Geometry for Adaptive Soft Object Grasping
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Solution Overview
Problem
Existing grippers are complex, expensive, and limited in their ability to adapt to different object shapes, sizes, and stiffness, often requiring specific designs for each application and failing to grasp soft or easily squeezable objects effectively.
Innovation Solution
A monolithic elastically deformable gripper finger with a specially designed structure that can adapt to various objects by deforming to fit their shape, eliminating the need for force control and allowing efficient transfer of motion and force without assembly, using a simple and low-cost design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional grippers are designed to grasp specific objects, then gripping force is sufficient, but adaptability to different objects is limited
Solution Approach 1:
The gripper finger is designed as a compliant structure that dynamically adapts its shape to match the object being grasped. The elastic material allows the finger to deform and conform to various object geometries, providing universal adaptability without requiring multiple specialized gripper designs for different object types.
Solution Approach 2:
The gripper utilizes elastic deformation as the key parameter change mechanism. By controlling the degree and pattern of elastic deformation through applied forces, the gripper can adjust its shape and compliance to match different object characteristics, enabling a single gripper design to handle diverse objects effectively.
2Adaptability or versatility
If grippers use rigid links and joints, then structural strength is sufficient, but ability to grasp soft objects is poor
Solution Approach 1:
The gripper finger is constructed from elastic material that forms a flexible, compliant structure. This flexible design allows the gripper to conform to and gently grasp soft objects without causing damage, while the material properties and structural geometry maintain sufficient strength for effective gripping.
Solution Approach 2:
The compliant gripper structure dynamically adjusts its rigidity through elastic deformation. When grasping soft objects, the material deforms to match the object's shape, providing gentle contact. The structure maintains overall structural integrity and strength through its elastic properties and geometric design.
3Manufacturing precision
If grippers require force control algorithms, then grasping precision is improved, but system cost and complexity increase
Solution Approach 1:
The compliant gripper structure performs force control passively through its elastic material properties. The material naturally deforms to match the object's shape and applies appropriate contact forces without requiring active force sensing or control algorithms. This self-regulating behavior achieves precise grasping while eliminating complex control systems.
Solution Approach 2:
The patent replaces active force control systems with passive elastic mechanics. Instead of using sensors, motors, and control algorithms to regulate grasping force, the solution uses the inherent elastic deformation characteristics of the material to automatically achieve appropriate contact forces and grasping precision.
4Productivity
If grippers are designed for specific applications, then performance for that application is optimized, but scalability to other applications is limited
Solution Approach 1:
The compliant gripper design achieves universality by using elastic material properties rather than application-specific mechanical structures. The same gripper finger can effectively grasp objects of varying shapes, sizes, and material properties by passively adapting its deformation pattern, enabling a single design to serve multiple applications without modification.
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 efficiently grasps a wide variety of objects, including soft and fragile items, with reduced actuation force and stroke requirements, and returns to an open state via stored deformation energy, offering scalability and cost-effectiveness.
Implementation Method 1
a new simple low-cost adaptive gripper solution... The gripper finger is in form of simple monolithic elastically deformable compliant structure that can transfer motion/forces from a power source to the object to be gripped
Implementation Method 2
When the input force is no longer applied, the gripper device would open and return to its initial, undeformed state due to releasing of the stored strain energy, similar to a spring
Implementation Method 3
The gripper finger also has a tip portion, where the end of the outside arm and the end of the inside arm are connected to each other, and a support arm extending from the first base end to the second folding point. The gripper finger further comprises an angle E between a first part of the outside arm, arranged between the second base end and the second folding point, and the support arm, wherein the angle E is at least 11.5 degrees
Data Source
AI summary
A gripper finger (1) for a gripper device having a monolithic elastic structure comprising an inside arm (2) having a first folding point (8) forming an angle C; an outside arm (3) having a second folding point (9), wherein the inside arm or the outside arm comprises a gripping surface for gripping an object; a base portion (4) having a first base end (10), from which the inside arm (2) is extending, and a second base end (11), from which the outside arm (3) is extending; a tip portion (6) where the end of the outside arm (3) and the end of the inside arm (2) are connected to each other; a support arm (5) extending from the first base end (10) to the second folding point (9); the gripper finger further comprises an angle E between a first part of the outside arm (3), arranged between the second base end (11) and the second folding point (9), and the support arm (5), wherein the angle E is at least 11.5 degrees.