Flexible Workpiece Deformation via Variable Holding Forces
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Solution Overview
Problem
Existing holding devices for flexible and mat-like workpieces are often complex, slow, expensive, and prone to causing material stress, leading to unreliable deformation into desired free-form shapes.
Innovation Solution
A method where gripping devices are displaced relative to each other, with reduced or inactivated holding forces allowing sections of the workpiece to slide while others are fixed, enabling controlled deformation into a desired free-form shape by varying holding forces across the gripping surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If complex holding devices with individually driven tappets are used, then the workpiece can be deformed into desired free-form shapes, but the device becomes sluggish, slow and expensive
Solution Approach 1:
The holding device is divided into multiple gripping devices that can be independently controlled. Each gripping device can be individually activated or deactivated, allowing selective fixation of different workpiece zones. This segmentation enables complex deformations to be achieved through coordinated action of simpler individual components rather than a monolithic complex system.
Solution Approach 2:
The holding force of each gripping device is dynamically adjustable during the deformation process. By varying the holding force in real-time, the system can transition between different deformation states and control the workpiece morphology dynamically. This dynamic control allows a simpler device structure to achieve the functionality of more complex static systems.
2Manufacturing precision
If holding devices store pieces of material in a workpiece carrier, then material can be positioned, but high stresses are caused in the material leading to damage
Solution Approach 1:
Different zones of the workpiece are subjected to different holding forces. By selectively activating individual gripping devices, the system applies high holding forces only where needed to prevent slipping, while allowing other zones to remain stress-free. This local differentiation of holding force quality enables precise positioning without subjecting the entire material to high stresses.
Solution Approach 2:
The holding force parameter is varied across different gripping devices and during different stages of the process. By adjusting the holding force parameter locally and temporally, the system achieves sufficient grip for positioning while avoiding excessive forces that would damage the material. This parameter modulation resolves the contradiction between secure positioning and stress avoidance.
3Adaptability or versatility
If gripping devices are displaced relative to each other to deform workpiece, then desired free-form shapes can be achieved, but control of deformation is difficult without selective holding force activation
Solution Approach 1:
Different zones of the workpiece are subjected to different holding forces. By selectively activating individual gripping devices, the system applies high holding forces only where needed to prevent slipping, while allowing other zones to remain stress-free. This local differentiation of holding force quality enables precise positioning without subjecting the entire material to high stresses.
Solution Approach 2:
The system monitors the deformation process and adjusts the holding forces of individual gripping devices in response to observed workpiece behavior. This feedback control enables automatic adaptation to varying material properties and deformation requirements, making the system easier to operate while maintaining high shape variability capability.
Data Source
AI summary
A method for the handling of flexible and/or mat-like workpieces (30, 30a) with a holding device (10) comprising the steps of: picking up the workpiece (30, 30a) from an initial configuration with activated gripping devices (18); and displacing the gripping devices (18) relative to each other to deform the workpiece (30, 30a) into a desired freeform, further wherein the holding force before or during the displacement of the gripping devices (18) is reduced on each gripping device (18) so that the first sections (34) of the workpiece (30, 30a) during its deformation slide along the contact surface (20) and the second sections (36) of the workpiece (30, 30a) are fixed by the gripping devices (18) on the bearing surface (20).