Deformable Shell Passive Grasping Surface for Robotic Manipulators
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Solution Overview
Problem
Conventional robotic manipulators face challenges in securely grasping a wide range of objects due to limitations in active systems, which can damage fragile items and struggle with complex geometries, while passive systems lack sufficient hold force for large or heavy objects.
Innovation Solution
A robotic manipulator with active grasping components featuring deformable shells with a medium that uses negative pressure to conform to objects, allowing for secure grasping and adjustable stiffness through fluid pressure control, enabling both delicate and robust object handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If mechanically-actuated fingers are used to grasp objects, then the robotic manipulator can securely hold objects, but it may cause damage to fragile objects due to significant undamped crushing forces
Solution Approach 1:
The patent applies flexible shells (deformable fingers made of elastomeric material) that can conform to object surfaces while providing gentle contact. These flexible fingers naturally dampen forces and adapt to object geometry, preventing damage to fragile items while maintaining secure grasp through compliance rather than rigid force application.
Solution Approach 2:
The patent changes the physical state and properties of the grasping material by using elastomeric compounds with varying durometers (hardness). By selecting appropriate material parameters (softer, more compliant materials), the system achieves secure grasping without the harmful high forces characteristic of rigid mechanical fingers, thus resolving the contradiction between grasp strength and object protection.
2Adaptability or versatility
If suction mechanisms are used to grip objects, then the robotic manipulator can hold objects without mechanical contact, but it requires smooth, debris-free, dry and generally flat surfaces which limits the types of objects that can be held
Solution Approach 1:
The flexible elastomeric fingers can conform to various surface geometries including curved, textured, or irregular surfaces that suction cups cannot effectively grip. The compliance of the material allows adaptation to different object types without requiring smooth, flat surfaces, thereby expanding versatility while avoiding the surface condition limitations of suction mechanisms.
Solution Approach 2:
The patent employs composite elastomeric materials with specific viscoelastic properties that combine the benefits of compliance (for adapting to various surfaces) with sufficient friction and grip capability. This composite approach allows the manipulator to handle diverse object types including those with complex geometries that would be problematic for both rigid fingers and suction mechanisms alone.
3Object-affected harmful factors
If passive robotic manipulators are used to grasp objects, then the robotic manipulator can provide soft grasp which mitigates damage risk, but it tends to not perform well when grasping large or heavy objects due to inherent limitations on hold force
Solution Approach 1:
The patent utilizes elastomeric materials with tunable mechanical parameters (durometer, viscosity, elasticity) that allow the same compliant structure to adapt its stiffness and force-generating capability. Softer materials provide gentle grasping for fragile items, while the same material system can generate sufficient hold force for heavier objects through increased contact area and friction, eliminating the need to choose between softness and strength.
Solution Approach 2:
The deformable fingers dynamically adapt their shape and contact characteristics during grasping operations. The material's viscoelastic properties allow time-dependent deformation and force distribution, enabling the passive structure to progressively conform to objects and distribute forces optimally, thereby achieving both gentle contact for fragile items and sufficient hold force for larger objects through dynamic adaptation rather than static design.
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 system effectively reduces damage risk by providing a soft grasp for various objects, including fragile ones, while maintaining the ability to handle larger or heavier items securely by dynamically adjusting the grasping force and shape.
Implementation Method 1
the shell is configured to conform to a shape of the object upon application of the negative pressure
Implementation Method 2
a pump communicatively coupled to the controller, the pump configured to deliver fluid pressure to the interior of the shell
Data Source
AI summary
One or more embodiments of the present disclosure relate generally to the field of robotic grasping systems, and in particular to an active robotic manipulator that includes a passive grasping component so that the robotic manipulator can grasp a wide variety of objects and simultaneously provide soft grasping features which reduce the risk of damage to objects.