Deformable Gripper Membrane Segmentation for Object Contact
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Solution Overview
Problem
Conventional deformable membranes in robots are uniformly inflatable, limiting their ability to maintain contact with external objects of various shapes and sizes.
Innovation Solution
A deformable gripper with inner and outer membranes, where an actuator independently expands and contracts the inner membranes, causing non-uniform expansion and contraction of the outer membrane, allowing for dynamic adjustment to maintain contact with external objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If deformable membranes are uniformly inflatable, then the structure is simple and easy to control, but the capability to maintain contact with external objects of various shapes and sizes is limited
Solution Approach 1:
The deformable membrane is divided into multiple independently inflatable segments or regions. Each segment can be inflated to a different degree, allowing the membrane to adapt its shape to various external objects. This segmentation enables localized deformation while maintaining overall structural integrity, resolving the contradiction between adaptability and simplicity.
Solution Approach 2:
Different regions of the membrane are equipped with independent inflation control, allowing each local area to have different inflation levels. This local quality variation enables the membrane to conform to objects of diverse shapes and sizes by adjusting specific regions independently, thereby enhancing adaptability without requiring complete structural redesign.
2Adaptability or versatility
If deformable components inflate uniformly across surfaces, then the control system is simple, but the capability to dynamically adjust to various object shapes is limited
Solution Approach 1:
The membrane system transitions from static uniform inflation to dynamic variable inflation. By enabling independent control of different membrane regions, the system can dynamically adjust its shape in real-time to match various object geometries. This dynamic capability is achieved through programmable control of individual segments, balancing adaptability with operational simplicity.
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 stronger and more consistent contact with external objects by allowing independent control of membrane expansion and contraction, enhancing the gripper's ability to interact with diverse shapes and sizes.
Implementation Method 1
a deformable gripper that includes inner membranes and an outer membrane such that expansion and contraction of at least one of the inner membranes causes an expansion and contraction of the outer membrane
Data Source
AI summary
Embodiments of a deformable gripper are described. The deformable gripper comprises a base, a first inner membrane and a second inner membrane coupled to the base, an outer membrane attached to the base such that the outer membrane is positioned to enclose the first inner membrane and the second inner membrane, and an actuator operable to independently expand and contract the first inner membrane and the second inner membrane such that a portion of an outer surface of the outer membrane expands and contracts responsive to the expansion and contraction of at least one of the first inner membrane and the second inner membrane.