Double-Acting Modular Gripper for Variable Workpiece Shapes
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing grippers are limited to gripping a single shape of workpiece, requiring tool replacement for non-compatible shapes, leading to increased downtime and reduced throughput.
Innovation Solution
A double-acting modular gripper with a base, middle and distal segments, and a tendon system that pivots in opposing directions via an actuator, allowing it to accommodate various workpiece shapes and increase gripping force.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If tooling is constructed with a complimentary contacting surface profile to encapsulate a specific workpiece shape, then gripping reliability is improved, but adaptability deteriorates requiring tool replacement for different shapes
Solution Approach 1:
The gripper is divided into multiple modular segments (distal segment, middle segment, base) that can independently articulate and reconfigure. Each segment contains its own actuator and tendon system, allowing the tooling to change its contacting surface profile by articulating different segments into different positions, thereby adapting to various workpiece shapes without requiring complete tool replacement
Solution Approach 2:
The tooling incorporates dynamic articulation capabilities through fluid-powered actuators and tendon systems that enable real-time reconfiguration of the gripper segments. This dynamic adjustment allows the contacting surface profile to change from a fixed configuration to a adaptable one, maintaining reliable gripping contact across different workpiece geometries
2Adaptability or versatility
If tooling is removed and replaced to grip non-compatible workpiece shapes, then adaptability is improved, but productivity deteriorates due to increased downtime
Solution Approach 1:
The dynamic reconfiguration capability allows the gripper to transition between different gripping configurations in seconds through fluid-powered actuation, compared to the minutes or hours required for physical tooling removal and replacement. This dramatically reduces downtime while maintaining full adaptability to different workpiece shapes
Solution Approach 2:
The modular articulating gripper serves as a universal tooling system that can grip multiple different workpiece shapes using the same physical device. By articulating the segments into different configurations, a single gripper performs the function of multiple specialized tooling pieces, eliminating replacement needs and maintaining continuous production
3Device complexity
If single-acting fluid powered actuators are used with elastomeric tendons for restoration, then device complexity is reduced, but gripping force deteriorates in the return direction
Solution Approach 1:
The patent combines both fluid-powered actuation and elastomeric tendon restoration within the same modular segment, creating a integrated double-acting system. The elastomeric tendon works in conjunction with the fluid actuator to provide active force in both directions, merging the simplicity of passive restoration with the power of active fluid actuation to achieve balanced bi-directional gripping force
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 gripper effectively encapsulates diverse workpiece shapes with enhanced gripping force, reducing downtime and increasing throughput by enabling easy adaptation to different shapes without tool replacement.
Implementation Method 1
at least one actuator; a yoke coupled to the at least one actuator and configured to be moved in opposing directions by the at least one actuator
Implementation Method 2
at least one tendon coupled to the distal segment at two different coupling points and coupled to the yoke
Implementation Method 3
at least one middle segment pivotally connected to the base; a distal segment pivotally connected to the at least one middle segment
Data Source
AI summary
A gripper for gripping a workpiece includes: a base; at least one middle segment pivotally connected to the base; a distal segment pivotally connected to the at least one middle segment; at least one actuator; a yoke coupled to the at least one actuator and configured to be moved in opposing directions by the at least one actuator; and at least one tendon coupled to the distal segment at two different coupling points and coupled to the yoke. The at least one middle segment and the distal segment are configured to pivot clockwise as the at least one actuator moves the yoke in a first direction and to pivot counterclockwise as the at least one actuator moves the yoke in a second direction which is opposite to the first direction.