Fluid Pressure Grasper With Partitioned Spoon Housing
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Solution Overview
Problem
Existing grasping devices using fluid pressure actuators that curve during contraction struggle to grasp an appropriate amount of an object at one time, often resulting in either too much or too little being grasped.
Innovation Solution
A grasping device utilizing multiple fluid pressure actuators with a cylindrical tube and a sleeve with woven fiber cords, featuring a spoon-shaped housing portion and a partition plate to manage the grasping and releasing of objects effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fluid pressure actuator that curves during contraction is used for grasping, then the actuator can achieve flexible grasping motion, but it becomes difficult to control the amount of object grasped
Solution Approach 1:
The interior space of the housing portion is divided into a plurality of partitioned spaces by partition walls. This segmentation allows control over the volume available for grasping, enabling precise control of the amount of object grasped while maintaining the flexible curved motion capability of the fluid pressure actuator.
2Ease of operation
If the housing portion is open at the tip of the fluid pressure actuator, then the actuator can fully expand and contract, but it cannot control the volume for grasping
Solution Approach 1:
The housing portion includes partition walls that divide the interior space into multiple partitioned spaces, controlling the effective grasping volume. The opening at the tip allows the fluid pressure actuator to maintain full expansion and contraction capability while the partitioned spaces restrict and control the volume available for grasping objects.
Solution Approach 2:
The partitioned spaces are nested within the housing portion, creating a structured internal volume that guides and limits the expansion of the fluid pressure actuator. This nested structure enables controlled volume utilization while preserving the actuator's full range of motion.
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 enables the grasping of an appropriate amount of an object each time, ensuring reliable holding and efficient handling of objects through controlled expansion and contraction of the fluid pressure actuators.
Implementation Method 1
a tube (110) that is cylindrical, and expands and contracts under fluid pressure
Implementation Method 2
a sleeve (120) having a stretchable structure in which fiber cords oriented in a predetermined direction are woven
Data Source
AI summary
A fluid pressure actuator used as the grasping device 1 includes a cylindrical tube that expands and contracts under the pressure of a fluid, and a sleeve having a stretchable structure in which fiber cords oriented in a predetermined direction are woven and that covers an outer peripheral surface of the tube. A tip portion of the fluid pressure actuator is provided with a spoon-shape housing portion, and a partition plate that closes an opening surface of the housing portion when the fluid pressure actuator is non-curved or curved.