Flexible Gripper With Granular Jamming For Curved Objects

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Conventional gripping tools face challenges in gripping objects with varying sizes and shapes due to limited flexibility and adaptability, resulting in inadequate gripping force, especially when the object surface has curvature.

Innovation Solution

A flexible gripping tool with a gripper containing granular material and a deformable structure, where the gripper's hardness is set to less than 46.9, allowing for increased contact surface area and gripping force by depressurizing internal spaces to jam the granular material and create a solidified gripping configuration.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Force

If a conventional gripping tool is used, then the structure is simple and easy to manufacture, but the gripping force is insufficient for objects with varying sizes and shapes

Engineering Contradiction:

Improvegripping forceVSAvoidgripper structure complexity

Core Design Contradiction:

ForceVSDevice complexity

Solution Approach 1:

The gripper structure transitions from a rigid state to a flexible deformable state during operation. The gripper body is designed to be flexible rather than rigid, allowing it to adapt its shape to match the contours of objects with varying sizes and shapes, thereby increasing contact surface area and gripping force without requiring multiple specialized grippers

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The hardness parameter of the gripper material is specifically controlled to be less than 46.9 to optimize the balance between flexibility and structural integrity. This parameter change enables the gripper to deform sufficiently to conform to object surfaces while maintaining enough stiffness to transmit gripping force effectively

Inventive Principle:

Principle #35Parameter changes

2Adaptability or versatility

If the gripper hardness is increased, then the structural strength is improved, but the adaptability to different object shapes decreases

Engineering Contradiction:

Improveadaptability to object shapesVSAvoidgripper structural strength

Core Design Contradiction:

Adaptability or versatilityVSStrength

Solution Approach 1:

The gripper hardness is optimized to a specific range (less than 46.9) that balances adaptability and strength. This parameter optimization allows the gripper to be soft enough to conform to curved and irregular object surfaces while maintaining sufficient structural strength to transmit gripping forces without excessive deformation

Inventive Principle:

Principle #35Parameter changes

3Reliability

If a rigid gripper structure is used, then the manufacturing precision is easier to achieve, but the gripping performance on curved surfaces deteriorates

Engineering Contradiction:

Improvegripping performance consistencyVSAvoidgripper manufacturing complexity

Core Design Contradiction:

ReliabilityVSEase of manufacture

Solution Approach 1:

The gripper is designed with inherent flexibility allowing it to dynamically adapt to curved and irregular object surfaces during the gripping operation. This dynamic adaptability ensures consistent gripping performance across diverse object geometries without requiring complex manufacturing processes to create pre-formed curved surfaces

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The gripper body is constructed as a flexible structure that can deform and conform to the shape of the object being gripped. This flexible shell design allows the gripper to maintain reliable contact with curved surfaces, ensuring consistent gripping performance without requiring the gripper to be manufactured with complex pre-curved geometries

Inventive Principle:

Principle #30Flexible shells and thin films

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 flexible gripping tool achieves a higher and more consistent gripping force across different object shapes and sizes, including those with curvature, by utilizing a deformable structure and granular material to enhance gripping performance.

Implementation Method 1

The granular material is provided in a first space between the first portion and the second portion. A hardness of at least a portion of the first portion is less than 46.9. The gripping tool grips a workpiece by depressurizing the interior of the gripper in a state in which the gripper is caused to contact the workpiece.

Methodology Applied

Scientific EffectJamming transition:

Implementation Method 2

Methodology Applied

Scientific EffectElastic deformation: Elasticity

Data Source

PatentUS10946533B2Gripping tool, gripping system, and evaluation method of gripping performance

Publication Date: 2021.03.16 KK TOSHIBA

AI summary

According to one embodiment, a gripping tool includes a gripper. The gripper is flexible. A granular material is provided in an interior of the gripper. The gripping tool grips a workpiece by depressurizing the interior of the gripper in a state in which the gripper is caused to contact the workpiece. The gripper includes a first portion contacting the workpiece, and a second portion opposing the first portion. The granular material is provided in a first space between the first portion and the second portion. A hardness of at least a portion of the first portion is less than 46.9.