Single-Piece Elastic Robotic Finger for 3D Compliant Grasping

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Solution Overview

Problem

Existing robotic grippers face limitations in performing both pinch and conforming grasp modes, particularly in 3D compliance, due to their design constraints such as 2D compliance, high manufacturing costs, and inability to handle a wide variety of object shapes.

Innovation Solution

A robotic finger designed with a single piece of flexible material, featuring links and joints that allow 3D compliance, enabling both pinch and conforming grasp modes while reducing manufacturing and assembly costs, and enhancing robustness and waterproofing.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If traditional linkage-driven gripper fingers with pin joints are used, then pinch grasp mode is achieved, but compliance is restricted to 2 dimensions only

Engineering Contradiction:

Improvegrasp mode capabilityVSAvoidcompliance dimension

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent replaces traditional pin joints with flexural joints that enable 3D compliance. The flexural joints use elastic deformation of the finger body rather than mechanical pin rotations, allowing bending in multiple directions and achieving both pinch and conforming grasp modes with enhanced adaptability.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The gripper finger is designed as a flexible structure with integrated flexural joints that allow elastic deformation. This flexible design enables the finger to bend and conform to objects in 3D space while maintaining structural integrity, resolving the contradiction between grasp capability and compliance limitation.

Inventive Principle:

Principle #30Flexible shells and thin films

2Device complexity

If cable-driven or in-molded flexural gripper fingers are used, then 3D compliance is achieved, but assembly time increases and manufacturing costs increase

Engineering Contradiction:

Improvecompliance dimensionVSAvoidmanufacturing cost and assembly time

Core Design Contradiction:

Device complexityVSEase of manufacture

Solution Approach 1:

The patent combines the flexural joint mechanism and the finger structure into a single integrated component. This merging eliminates the need for separate cables or complex in-molded assemblies, reducing both manufacturing steps and assembly time while maintaining 3D compliance capability.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The integrated flexural finger structure serves multiple functions simultaneously: it provides structural support, enables 3D compliance through elastic deformation, and achieves both pinch and conforming grasp modes. This multi-functionality reduces the need for additional components and simplifies manufacturing.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Adaptability or versatility

If cable-driven flexural gripper fingers are used, then conforming grasp mode is achieved, but stable pinch region is lost

Engineering Contradiction:

Improveconforming grasp capabilityVSAvoidpinch grasp stability

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The patent optimizes the geometric parameters of the flexural finger, including link lengths and joint positions, to create a stable pinch region. By carefully selecting these parameters, the finger can maintain stable parallel contact surfaces for pinch grasps while retaining the ability to deform for conforming grasps.

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The flexural joints provide dynamic compliance that allows the finger to adapt its stiffness and deformation characteristics based on the grasping task. This dynamic behavior enables stable pinch grasps when needed while allowing conforming deformation when required.

Inventive Principle:

Principle #15Dynamics

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 robotic finger achieves effective grasp of variously shaped objects in both pinch and conforming modes, with reduced manufacturing costs and increased robustness, and is easier to clean and maintain, particularly suitable for marine environments.

Implementation Method 1

The robotic finger includes a first link having a first end and a second end, a second link having a first end and at least one second end, at least one third link having a first end and a second end, a fourth link having at least one first end and a second end

Methodology Applied

Scientific EffectElasticity: Elasticity

Data Source

PatentUS11312027B2Robotic gripper

Publication Date: 2022.04.26 AEOLUS ROBOTICS CORP LTD

AI summary

The present disclosure relates to a robotic gripper comprising a body and two robotic fingers mounted to the body. Each robotic finger includes a first link, a second link, a third link, a fourth link, a first joint, a second joint and a third joint. The first joint connects the first link and the second link, and the second joint connects the second link and the third link, and the third joint connects the third link and the fourth link. These links and these joints are comprised of elastic material and are formed in one piece.