Layer Jamming Gripper for Irregular Workpiece Conformity
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Solution Overview
Problem
Mechanized grippers face limitations in adapting to complex and irregularly shaped workpieces, particularly those without flat surfaces, due to their inherent rigidity and geometry, which restricts their ability to apply controlled forces effectively.
Innovation Solution
A layer jamming structure with a membrane containing overlapping material layers, coupled with a pressure system and a shape conforming tool, allows the gripper to conform to the workpiece's shape by applying force and changing internal cavity pressure to transition between compliant and rigid states, enabling secure gripping of complex shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a mechanized gripper uses rigid planar surfaces for gripping, then the structural strength and stability are improved, but the adaptability to complex and irregular workpiece shapes deteriorates
Solution Approach 1:
The gripper transitions from a static rigid structure to a dynamic system that can change its state between compliant and rigid. The membrane structure allows the gripper to dynamically adapt its shape to match complex workpiece geometries, then lock into a rigid gripping state when force is applied, resolving the contradiction between adaptability and structural strength
Solution Approach 2:
The gripper changes its physical parameters (rigidity, shape) based on operational needs. By adjusting the force applied to the membrane, the system transitions between compliant and rigid states, enabling it to conform to irregular shapes during approach and then maintain strong gripping force during manipulation
2Device complexity
If a mechanized gripper uses fixed geometry, then the device complexity is reduced, but the ability to conform to individual workpiece geometry deteriorates
Solution Approach 1:
The gripper employs a membrane structure that acts as a flexible shell, allowing it to conform to complex workpiece geometries without requiring complex internal mechanisms. This simple yet effective approach achieves high adaptability with minimal device complexity
Solution Approach 2:
The membrane structure is self-conforming, automatically adapting to the workpiece shape through force application without requiring active control systems or complex sensing mechanisms. The system serves itself by using the applied force to create the desired conformal shape
3Force
If a gripper applies compression force to grip workpieces, then the gripping force is improved, but the ability to accommodate shape variation and complex geometries deteriorates
Solution Approach 1:
The gripper first conforms to the workpiece shape before applying full gripping force. This preliminary conforming action ensures that the compression force is distributed optimally across the workpiece surface, enabling strong gripping of irregular shapes without requiring excessive force
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 system effectively grips and holds workpieces with curved or oblique surfaces by preforming to the workpiece shape and locking into a rigid state, enhancing the range of shapes that can be securely manipulated and processed.
Implementation Method 1
The pressure system, with operation of the pump, changes a pressure in the internal cavity to impart rigidity to the layer jamming structure
Implementation Method 2
The shape conforming tool includes at least one part that moves to apply a force to the layer jamming structure. The shape conforming tool, by operation of the moveable part, conforms the layer jamming structure to the workpiece
Data Source
AI summary
Systems and methods are provided for shape controlled gripping of a workpiece. A layer jamming structure includes a membrane defining an internal cavity containing a number of overlapping material layers. A pressure system includes a pump coupled with the internal cavity. A shape conforming tool includes at least one part configured to move to apply a force to the layer jamming structure. The shape conforming tool, by operation of the part, conforms the layer jamming structure to the workpiece. The pressure system, with operation of the pump, changes a pressure in the internal cavity to impart rigidity to the layer jamming structure.