Jamming Conformal Pad for Robotic Gripper Conforming

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Solution Overview

Problem

Robotic hands or grippers typically grasp objects with point or line contact, leading to awkward loads and ineffective gripping due to their rigid surfaces, which fail to conform to the shape of the object being grasped.

Innovation Solution

The implementation of jamming conformal pads on the robotic end-effector, which can switch between compliant and stiff configurations, allowing the end-effector to conform to the object's surface and maintain a stable grip through adjustable bladder pressure and filler particle interaction.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Strength

If rigid surfaces are used for robotic hands or grippers, then structural strength is improved, but the ability to conform to object surfaces deteriorates

Engineering Contradiction:

Improvestructural strengthVSAvoidconforming ability

Core Design Contradiction:

StrengthVSAdaptability or versatility

Solution Approach 1:

The patent applies flexible shells by using compliant pads with outer surfaces that can deform and conform to the contours of grasped objects. These pads are designed to be flexible enough to adapt to various object shapes while maintaining structural integrity through their internal construction with interconnected struts or cells.

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The patent implements dynamic stiffness control by enabling the compliant pads to transition between soft and stiff states. This is achieved through mechanisms such as inflatable bladders, shape memory alloys, or magnetorheological fluids that allow the pad structure to dynamically adjust its mechanical properties based on grasping requirements.

Inventive Principle:

Principle #15Dynamics

2Ease of manufacture

If rigid surfaces are used for robotic hands or grippers, then manufacturing simplicity is improved, but gripping effectiveness deteriorates

Engineering Contradiction:

Improvemanufacturing simplicityVSAvoidgripping effectiveness

Core Design Contradiction:

Ease of manufactureVSReliability

Solution Approach 1:

The compliant pads utilize flexible shell structures that can be manufactured using techniques such as 3D printing, molding, or additive manufacturing. These methods allow for the creation of complex internal geometries with interconnected struts or cells that provide both flexibility and structural support, achieving effective gripping without overly complicating the manufacturing process.

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The patent employs composite material structures combining different materials with complementary properties. For example, combining flexible polymers with rigid reinforcement elements, or integrating shape memory alloys into polymer matrices, to create pads that are both manufacturable and highly effective at conforming to objects while maintaining strength.

Inventive Principle:

Principle #40Composite materials

3Device complexity

If point or line contact is used for grasping, then device simplicity is improved, but load distribution deteriorates

Engineering Contradiction:

Improvedevice simplicityVSAvoidload distribution

Core Design Contradiction:

Device complexityVSForce

Solution Approach 1:

The compliant pads with flexible shell structures naturally transition from point or line contact to area contact when grasping objects. The flexible outer surface deforms to match the object's contour, distributing the grasping force across a larger contact area. This reduces stress concentrations and improves load distribution without requiring complex multi-point actuation systems.

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

Enhances gripping effectiveness by distributing force over an area, reducing slippage, and requiring less force to grasp and hold objects, mimicking the conforming ability of a human hand.

Implementation Method 1

a filler within and flowable in the bladder and comprising particles, wherein a flow characteristic of the filler varies with pressure within the bladder

Methodology Applied

Scientific EffectJamming transition:

Implementation Method 2

a flow characteristic of the filler varies with pressure within the bladder, and compliance of the bladder varies with the flow characteristics of the filler

Methodology Applied

Scientific EffectPressure-dependent flow:

Data Source

PatentEP4674581A2Robotic end-effector having dynamic stiffening elements for conforming object interaction

Publication Date: 2026.01.07 PALLADYNE CORP

Figure 1A~3b
Figure 2a~9
Figure 10~11

AI summary

A robotic end-effector to provide conformal object interaction. The end-effector has at least one finger with an inner portion or engaging side and one or more degrees of freedom. A jamming conformal pad is on the inner portion of the at least one finger. The jamming conformal pad has a compliant configuration in which the jamming conformal pad is compliant and configured to distribute across a surface of an object and, if contoured, infiltrate into any variations (e.g., indentations) in the surface, defining a conformal engaging surface configured to match and mate with the surface. The jamming conformal pad has a stiff configuration in which the jamming conformal pad is stiff or relatively stiff as compared to the jamming conformal pad in the compliant configuration, and which substantially maintains a shape of the conformal engaging surface.