Shape Compliant Electroadhesive Gripper for Atypical Objects

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Solution Overview

Problem

Conventional grippers, including mechanical, vacuum, and electroadhesive grippers, are ineffective in picking up atypical objects with various shapes and sizes without damaging them, and conventional electroadhesive grippers require a large contact area and high voltage to handle heavy objects.

Innovation Solution

A shape compliant electroadhesive gripper using an electrorheological elastomer module with a flexible film body that deforms to match the object's shape and increases rigidity with applied voltage for secure electrostatic adhesion, allowing for efficient and safe handling of atypical objects.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Force

If a conventional electroadhesive gripper uses a large contact area and applies large voltage to pick up heavy objects, then the gripping force is improved, but the device complexity and energy consumption increase

Engineering Contradiction:

Improvegripping forceVSAvoiddevice complexity

Core Design Contradiction:

ForceVSDevice complexity

Solution Approach 1:

The patent changes the physical state of the electrorheological elastomer by applying voltage, transforming it from a soft compliant state to a rigid state. This parameter change allows the same material to provide both compliance for shape adaptation and rigidity for strong gripping force, eliminating the need for separate mechanisms

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The patent uses electrorheological elastomer, which is a composite material combining dielectric particles in a polymer matrix. This composite structure enables the material to exhibit both mechanical compliance and electrostatic adhesion properties, resolving the contradiction between soft compliance and hard gripping force

Inventive Principle:

Principle #40Composite materials

2Force

If a conventional electroadhesive gripper uses a large contact area to pick up heavy objects, then the gripping force is improved, but the detachment time increases

Engineering Contradiction:

Improvegripping forceVSAvoiddetachment time

Core Design Contradiction:

ForceVSLoss of time

Solution Approach 1:

The patent uses periodic switching of voltage application to control the gripper state. By periodically applying and removing voltage, the system achieves rapid transitions between gripping and releasing states, reducing detachment time while maintaining strong gripping force when needed

Inventive Principle:

Principle #19Periodic action

3Device complexity

If a mechanical gripper or vacuum gripper is used to pick up atypical objects, then the structure is simple, but the ability to adapt to various shapes and sizes is limited

Engineering Contradiction:

Improvestructure simplicityVSAvoidadaptability to various shapes

Core Design Contradiction:

Device complexityVSAdaptability or versatility

Solution Approach 1:

The patent makes the gripper dynamically adaptable by using electrorheological elastomer that can change its mechanical properties in real-time. The material transitions from soft and compliant during contact to rigid during gripping, allowing automatic adaptation to different object shapes and sizes without complex mechanical structures

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The patent replaces traditional mechanical gripping mechanisms with an electrostatic field-based system. The electrorheological elastomer responds to electrical fields rather than mechanical actuation, simplifying the mechanical structure while enhancing adaptability through electrical control

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

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 grips and moves objects of various sizes and shapes with enhanced adhesion and mechanical support, ensuring safe and efficient handling while simplifying the mechanism and reducing detachment time.

Implementation Method 1

when the voltage is applied, rigidity of the electrorheological elastomer is increased to maintain the shape of the electroadhesive module

Methodology Applied

Scientific EffectElectrorheological effect: Electrorheological Effect

Implementation Method 2

when the voltage is applied to the electroadhesive module, electroadhesion is made due to an electrostatic force generated between the electrorheological elastomer and the adjacent external object

Methodology Applied

Scientific EffectElectrostatic force: Electrostatics

Data Source

PatentUS10780589B2Shape compliant electroadhesive gripper

Publication Date: 2020.09.22 DAWOO FA CO LTD

AI summary

Disclosed herein is a shape compliant electroadhesive gripper for picking up an atypical object. The shape compliant electroadhesive gripper comprises a body, and an electroadhesive module disposed on the body and including an electrorheological elastomer, wherein, when a voltage is not applied, a shape of the electroadhesive module is deformed according to a shape of an external object coming into contact with the electroadhesive module, and when the voltage is applied, rigidity of the electrorheological elastomer is increased to maintain the shape of the electroadhesive module, and when the voltage is applied to the electroadhesive module, electroadhesion is made due to an electrostatic force generated between the electrorheological elastomer and the adjacent external object.