Compliant Membrane Gripper for Delicate Object Handling
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Solution Overview
Problem
Existing robotic gripping devices are inefficient and costly when handling delicate objects, as they require complex adjustments and materials to adapt to varying sizes and shapes, and lack a simple and effective mechanism for gripping and releasing.
Innovation Solution
A compliant membrane-based device with a deformable chamber and means to change its volume or shape, utilizing a piston and/or phase-changing material, that adapts to the object and maintains grip throughout displacement, utilizing electrostatic adhesion and dry adhesion mechanisms for gentle and secure handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional active robotic gripping devices are used, then gripping force can be applied, but the device requires complex adjustments to adapt to different object shapes and sizes
Solution Approach 1:
The membrane transitions from a rigid state to a compliant state, dynamically changing its mechanical properties to adapt to different object geometries. When compliant, the membrane conformally deforms around objects of varying shapes and sizes without requiring adjustment mechanisms.
Solution Approach 2:
The mechanical properties of the membrane are changed by controlling the phase of the phase-changing material embedded within it. By changing the temperature or other parameters, the membrane transitions between rigid and compliant states, enabling adaptation to different objects.
2Object-affected harmful factors
If rigid gripping devices are used, then structural strength is maintained, but the device cannot gently handle soft and delicate objects
Solution Approach 1:
The membrane dynamically switches between compliant and rigid states based on operational requirements. During gripping of delicate objects, it is compliant to avoid damage; during displacement or when structural support is needed, it becomes rigid.
Solution Approach 2:
The membrane is designed as a flexible thin film structure that can conformally deform around delicate objects to provide gentle gripping. The flexibility allows it to adapt to soft surfaces without causing damage, while still maintaining sufficient gripping force.
3Ease of operation
If passive universal jamming gripping devices with granular material are used, then gripping capability is achieved, but the device requires complex pumping mechanisms and granular materials
Solution Approach 1:
The invention extracts and removes the granular material and pumping mechanism from the system. Instead, it uses a membrane with embedded phase-changing material that can be actuated more simply, eliminating complex components while maintaining gripping capability.
Solution Approach 2:
The mechanical pumping mechanism is replaced with a phase-changing material system that responds to thermal or other field inputs. This substitution eliminates the need for complex mechanical pumps and granular materials, simplifying the overall device.
4Adaptability or versatility
If complex adjustment mechanisms are added to adapt to different objects, then adaptability improves, but operation time increases
Solution Approach 1:
The membrane performs self-adjustment by conformally deforming around objects of different shapes and sizes when in compliant state. This self-adaptation eliminates the need for external adjustment mechanisms and reduces operation time, as the membrane automatically configures itself to match the object geometry.
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 solution enables efficient and cost-effective gripping and releasing of delicate objects by adapting to their shape and size, providing a gentle yet secure grip, suitable for a wide range of objects with minimal complexity and operational time.
Implementation Method 1
The means for changing the volume or shape of the chamber include a piston and/or a phase-changing material
Implementation Method 2
utilizing electrostatic adhesion and dry adhesion mechanisms for gentle and secure handling
Implementation Method 3
utilizing electrostatic adhesion and dry adhesion mechanisms for gentle and secure handling
Data Source
AI summary
A device in which the gripping action is achieved by a compliant membrane that adapts itself to the object to be lifted and then maintains such shape throughout the displacement of the object. The gripping force provided by the present invention is best suited for delicate objects, as it gently applies the gripping force necessary for displacement. This is accomplished through a chamber, a deformable membrane delimiting the chamber partially or entirely, and a means for changing the volume or shape of the chamber determined by the deformation of the membrane.