Deformable Robot Gripper Linkage for Large-Object Grasping

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Solution Overview

Problem

Conventional robots lack the ability to grasp and manipulate objects of varying sizes, including those larger than their dimensions, and do not provide sufficient friction to prevent slipping, lack rotational capabilities, and often lack pressure sensing and depth cameras.

Innovation Solution

The robot end effector features deformable grippers with a linkage system allowing angles greater than 130 degrees, latex surfaces for friction, pressure sensors, and depth cameras to securely grasp and rotate objects, including those larger than the robot, and navigate cluttered environments.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Volume of moving object

If conventional grasping members are used, then the robot structure remains simple, but the robot cannot grasp objects larger than itself

Engineering Contradiction:

Improvegrasping capacityVSAvoidend effector structure

Core Design Contradiction:

Volume of moving objectVSDevice complexity

Solution Approach 1:

The end effector is divided into multiple fingers (first deformable gripper, second deformable gripper) that can independently deform and position themselves. Each finger acts as an independent segment that can adapt to different object sizes and shapes, enabling the robot to grasp objects larger than itself while maintaining manageable structural complexity through modular design

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The grippers are configured to operate in multiple dimensions including vertical separation and rotational movement around a pivot. The ability to define angles greater than or equal to 130 degrees between grippers adds a dimensional aspect that allows grasping of large objects from above, extending the effective grasping volume beyond what a single-plane mechanism could achieve

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

2Adaptability or versatility

If conventional manipulating members are used, then the mechanism remains simple, but the members cannot rotate objects around a pivot

Engineering Contradiction:

Improvemanipulation capabilityVSAvoidmechanical components

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The end effector is designed to perform multiple functions including grasping, rotating, and manipulating objects. The same deformable grippers and linkage mechanism that enable grasping of various object sizes also facilitate rotation around a pivot, providing universal functionality without requiring separate specialized mechanisms for each operation

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The end effector incorporates dynamic capabilities through deformable grippers that can change shape and position, and a linkage system that enables rotational movement. The actuator dynamically adjusts the position of grippers to define angles greater than or equal to 130 degrees, allowing the system to adapt its configuration for both grasping and rotating operations

Inventive Principle:

Principle #15Dynamics

3Reliability

If conventional contact surfaces are used, then the manufacturing remains simple, but objects slip from the grasp

Engineering Contradiction:

Improvegrasping stabilityVSAvoidcontact surface fabrication

Core Design Contradiction:

ReliabilityVSEase of manufacture

Solution Approach 1:

The deformable grippers utilize composite material properties combining structural integrity with friction-based contact surfaces. The contact surfaces are designed with specific material characteristics that provide high friction to prevent slipping, while the overall gripper structure maintains the mechanical strength needed for deformation and actuation, achieving reliable grasping without overly complex manufacturing processes

Inventive Principle:

Principle #40Composite materials

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

Enables firm grasping and manipulation of objects of varying dimensions, prevents slipping, and allows rotational movement similar to a human wrist, enhancing precision and navigation in cluttered spaces.

Implementation Method 1

The manipulating members of conventional robots may also lack friction based contact surfaces operating in conjunction with certain mechanical components that serve as environmental constraints for ensuring that objects that are picked up do not slip from the grasp of the manipulating members.

Methodology Applied

Scientific EffectFriction: Friction

Implementation Method 2

an actuator coupled to the linkage and operable to move at least one of the first deformable gripper and the second deformable gripper to a position defining an angle between the first deformable gripper and the second deformable gripper that is greater than or equal to 130 degrees

Methodology Applied

Scientific EffectMechanical Advantage: Mechanical Advantage

Data Source

PatentUS12605851B2Robot end effector

Publication Date: 2026.04.21 TOYOTA JIDOSHA KK

AI summary

A robot end effector is contemplated. The robot end effector comprises a first deformable gripper, a second deformable gripper coupled to the first deformable gripper by a linkage, and an actuator coupled to the linkage and operable to move at least one of the first deformable gripper and the second deformable gripper to a position defining an angle between the first deformable gripper and the second deformable gripper that is greater than or equal to 130 degrees.