Coordinated Fin-Ray Gripping Assembly for Slip-Resistant Conforming Grasp
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Solution Overview
Problem
Traditional fin ray grippers are fixed in position and lack coordinated movement, leading to limited deformation around an object and potential slippage.
Innovation Solution
A gripping assembly with a central finger slidably coupled to a mounting base and adjoining fingers pivotally connected via flexible membranes, allowing coordinated movement to conform to an object's contour.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional fin ray grippers are used with fixed positions and no connection between grippers, then the structure is simple, but the deformation capability is limited to a single axis and objects can slip out of grasp
Solution Approach 1:
Multiple fin ray grippers are merged into a single integrated gripping member with a common mounting base. The grippers are connected through the mounting base and flexible membrane, enabling coordinated movement across multiple axes while maintaining structural simplicity through the shared base design.
Solution Approach 2:
The gripping member transitions from fixed-position grippers to a dynamic structure where the central finger can slide laterally on the mounting base and adjoining fingers can pivot. This dynamic configuration allows the grippers to deform around objects in multiple directions, preventing slippage while adapting to various object shapes.
2Adaptability or versatility
If fin ray grippers are connected and configured for coordinated movement, then the ability to deform around an object in multiple directions is improved, but the device complexity increases
Solution Approach 1:
The gripping member is segmented into a central finger and multiple adjoining fingers, each with specific degrees of freedom. The central finger provides lateral sliding motion while adjoining fingers provide pivotal motion, creating a segmented yet coordinated system that achieves multi-axis deformation capability.
Solution Approach 2:
The flexible membrane acts as an intermediary element connecting the central finger to the adjoining fingers. This membrane transmits motion and forces between components, enabling coordinated movement while simplifying the overall structure by providing a natural coupling mechanism that requires no additional complex linkages.
3Ease of operation
If the central finger is slidably coupled to allow lateral movement, then coordinated movement between grippers is enabled, but the manufacturing complexity increases
Solution Approach 1:
The sliding coupling between the central finger and mounting base is designed to be self-aligning and self-lubricating through the interaction of the flexible membrane and base structure. This self-service design reduces the need for precision machining and complex assembly procedures, making the system easier to manufacture despite the added movement capability.
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
Enhances grasping and holding by increasing contact between fingers and the object's surface through coordinated deformation, reducing slippage.
Implementation Method 1
The flexible membrane is positioned between and coupling each adjacent finger of the plurality of fingers to coordinate movement between the plurality of fingers
Implementation Method 2
The central finger is slidably coupled to the mounting base such that the central finger is movable in a lateral direction
Data Source
AI summary
A gripping assembly for gripping an object is provided. The gripping assembly includes a gripping member. The gripping member includes a mounting base and a plurality of fingers. The plurality of fingers include a central finger and a plurality of adjoining fingers. The central finger is slidably coupled to the mounting base such that the central finger is movable in a lateral direction. The plurality of adjoining fingers are positioned on opposing sides of the central finger in a longitudinal direction. Each of the plurality of adjoining fingers are pivotally coupled to the mounting base and coupled to the central finger such that a movement of the central finger in the lateral direction pivots the plurality of adjoining fingers with respect to the mounting base.