Gripping System with Position Adjustment for Obstructed Objects
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Solution Overview
Problem
Existing gripping systems face challenges in gripping objects when there is no exposed surface available for the finger portions, leading to reduced versatility and potential damage from suction forces, especially when objects are closely packed or obstructed.
Innovation Solution
A gripping system that determines whether a predetermined gripping portion is exposed, and if not, specifies a contactable and unexposed portion on the object's surface, altering the object's position or attitude to expose the unexposed portion for gripping, allowing the system to grip the object stably without being affected by its initial disposition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a hand mechanism with finger portions is used to grip an object, then gripping precision and control are improved, but the system cannot grip objects when no surface is exposed due to obstructions or close packing
Solution Approach 1:
The patent replaces the traditional mechanical finger-based gripping system with an adsorption device that uses suction force. This allows the end effector to grip objects by adsorbing them through a surface, eliminating the need for finger portions to physically contact and clamp the object, thereby solving the problem of unable to grip objects with obscured surfaces
Solution Approach 2:
The adsorption device provides a universal gripping mechanism that can handle various object shapes, sizes, and positions. By using suction force applied through a surface, the system can grip objects regardless of their orientation or surrounding obstructions, significantly improving adaptability while maintaining control precision
2Adaptability or versatility
If an adsorption device is used to grip objects in confined spaces, then versatility is improved, but the device must be customized for each object shape and structure reducing adaptability
Solution Approach 1:
The adsorption device uses a flexible suction surface that can conform to different object geometries without requiring custom-designed grippers for each object type. The universal adsorption mechanism maintains versatility across various object shapes while avoiding the complexity of customization
Solution Approach 2:
The system adjusts gripping parameters such as suction force magnitude and distribution by controlling the adsorption device operation, rather than changing the physical structure of the gripper itself. This allows adaptation to different objects through parameter adjustment rather than device redesign
3Adaptability or versatility
If suction force is applied to grip objects, then versatility is improved, but suction marks may be left on the object surface causing damage
Solution Approach 1:
The system dynamically adjusts the suction force parameters based on object characteristics and gripping requirements. By optimizing the adsorption force magnitude and distribution, the device achieves secure gripping while minimizing the risk of surface damage or suction marks
Solution Approach 2:
The control unit monitors gripping conditions and adjusts adsorption force in real-time based on feedback signals. This feedback mechanism allows the system to maintain appropriate suction levels that prevent surface damage while ensuring reliable object retention
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
Enables gripping of objects in confined or obstructed spaces with high versatility, reducing the impact of object disposition and preventing suction marks, thus improving the stability and efficiency of the gripping process.
Implementation Method 1
an adsorption device that suctions the object over a wide range
Data Source
AI summary
A gripping system for gripping an object using a hand mechanism having at least two finger portions includes a specification unit that specifies a contactable portion and an unexposed portion, the contactable portion being a portion of the object that can be contacted by at least a first finger portion constituting one of the finger portions and the unexposed portion being a portion that is not exposed at the time of the determination, a first operation control unit that exposes the unexposed portion of the object, and a second operation control unit that grips the object in a state where the unexposed portion is exposed by bringing the first finger portion or the second finger portion into contact with the unexposed portion and bringing a finger portion other than the finger portion contacting the unexposed portion into contact with a predetermined surface of the object other than the unexposed portion.