Conformal Gripper With Independent Beam Members
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Solution Overview
Problem
Current gripper designs are not optimal for all tasks or objects, as they require frequent changes in finger shape and size to accommodate different shapes and forces, leading to inefficiencies and increased maintenance needs in factory settings.
Innovation Solution
A gripper section with independently moving beam members and gripper surfaces that can conform to the shape of an object, allowing the gripper to change its shape and apply varying forces without needing to be replaced, utilizing a plurality of beam members with fixed and free ends and engagement portions to adapt to different objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If gripper fingers are designed to be long and narrow for reaching deep inside narrow openings, then the robot can access tight spaces, but the gripper cannot effectively lift and control large parts
Solution Approach 1:
The gripper fingers are designed with compliant surfaces that can dynamically change their shape and stiffness characteristics. The fingers can flex and deform to conform to different object geometries, allowing the same physical structure to adapt between reaching into narrow spaces and handling larger parts, thereby resolving the contradiction between fixed finger length optimization and versatility.
Solution Approach 2:
The gripper employs variable stiffness and compliance parameters through compliant surfaces that can change their mechanical properties based on the task requirements. By adjusting the compliance level and deformation characteristics of the finger surfaces, the system can optimize for either reaching depth or handling capability as needed, eliminating the need for multiple specialized gripper designs.
2Adaptability or versatility
If gripper fingers are designed to be short and broad for lifting and controlling large parts, then the robot can handle larger objects, but the gripper cannot reach deep inside narrow openings
Solution Approach 1:
The compliant surfaces enable dynamic adaptation of finger geometry during operation. When reaching into narrow openings, the surfaces can stiffen and extend effectively; when handling large parts, they can flex and conform accordingly. This dynamic behavior allows a single gripper design to optimize its effective reach and handling capability for different tasks without physical reconfiguration.
Solution Approach 2:
The system changes the effective geometric parameters of the gripper fingers through controlled deformation of compliant surfaces. By varying the compliance level and deformation magnitude, the gripper can adjust its effective finger length and breadth to match different object sizes and geometries, resolving the contradiction between fixed dimensions and task-specific optimization.
3Adaptability or versatility
If a technician replaces gripper fingers for various parts, then the gripper can be optimized for specific tasks, but time, materials and special tools are required
Solution Approach 1:
The gripper fingers with compliant surfaces are designed to self-adjust and self-conform to different object geometries without requiring external intervention or replacement. The compliant surfaces automatically deform and adapt to match the target object shape, eliminating the need for technician intervention, replacement procedures, or specialized tools, thereby resolving the contradiction between task optimization and operational efficiency.
4Ease of operation
If gripper surfaces are made compliant to grasp small or fragile objects, then the gripper can handle delicate items, but the gripper cannot provide sufficient force for robust manipulation
Solution Approach 1:
The compliant surfaces are designed with variable compliance parameters that can be adjusted based on the object being handled. For fragile objects, the surfaces can increase compliance to distribute force gently; for robust objects, the surfaces can stiffen to provide sufficient gripping force. This parameter adjustment capability allows the same gripper structure to optimize both delicate handling and force application as needed.
Solution Approach 2:
Different regions of the gripper surfaces can have different compliance characteristics tailored to local requirements. Areas contacting fragile objects can be more compliant to prevent damage, while areas needing strong grip can be stiffer. This spatial variation in material or structural properties allows the gripper to simultaneously provide both gentle handling and sufficient force where needed.
Data Source
AI summary
A gripper section for use with a clamp arm for use with automated machinery. The gripper section includes a plurality of beam members which extend from a base, with each beam member of the plurality of beam members having a fixed end and a free end. The gripper section also includes a plurality of gripper surfaces proximate to the free ends, with each gripper surface attached to a respective beam member of the plurality of beam member. Each gripper surface of the plurality of gripper surfaces and its respective beam member move independently of the other plurality of gripper surfaces and plurality of beam members. Wherein the plurality of gripper surfaces and the plurality of beam members conform to the shape of an object/part to be manipulated by the gripper section.