Conformable Electroadhesive Gripper for Precision Workpiece Handling
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Solution Overview
Problem
Passive universal grippers are inferior at gripping specific workpieces due to their ability to accommodate a wide variety of shapes and sizes, often resulting in suboptimal performance for individual workpieces.
Innovation Solution
A gripping device featuring a controllable electroadhesive element integrated with a conformable jamming element, which uses a combination of vacuum pressure and electrostatic adhesion to securely grasp and release workpieces, allowing for precise adaptation to different geometries without the need for grasp planning or sensory feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If passive universal grippers employ conformable elements to accommodate various workpiece geometries, then adaptability to different shapes and sizes is improved, but gripping precision and performance for individual workpieces deteriorates
Solution Approach 1:
The gripper transitions from a static passive conformable structure to a dynamic active system that can sense workpiece geometry and adjust its gripping force distribution accordingly. The active sensing and control capabilities allow the gripper to adapt its behavior dynamically, achieving both high adaptability to different geometries and high gripping precision for individual workpieces.
Solution Approach 2:
The invention incorporates active sensing elements that provide real-time feedback about workpiece geometry and contact forces. This feedback loop enables the control system to adjust gripping parameters dynamically, resolving the contradiction by allowing the gripper to optimize its performance for each specific workpiece while maintaining versatility across different geometries.
2Ease of operation
If passive universal grippers are designed to grip widely varying workpieces without readjustment, then ease of operation is improved, but gripping force distribution and performance for specific workpieces deteriorates
Solution Approach 1:
The gripper employs active sensing capabilities that allow it to automatically detect and adapt to workpiece geometry without requiring manual readjustment. The system serves itself by autonomously optimizing force distribution based on sensed information, maintaining ease of operation while improving gripping force distribution for specific workpieces.
Solution Approach 2:
The invention dynamically changes gripping parameters (force magnitude, distribution, and timing) based on active sensing of workpiece characteristics. This allows the system to maintain simple operation without manual intervention while achieving optimal force distribution adapted to each specific workpiece geometry.
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 device effectively grips and releases workpieces with a high degree of precision and adaptability, enabling efficient handling of various shapes and sizes while minimizing the need for complex setup or visual preprocessing.
Implementation Method 1
a controllable voltage source electrically connected to the electroadhesive element
Implementation Method 2
vacuum suction when an airtight seal is achieved on some portion of the workpiece surface
Data Source
AI summary
A gripping device is described, and includes a holder including a base and a conformable jamming element having an electroadhesive element on a surface thereof and a controllable voltage source that is electrically connected to the electroadhesive element.