Linkage Gripper Geometry for Secure Grasping of Complex Shapes
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional grippers with parallelogram-shaped finger linkages struggle to securely grasp objects with non-flat surfaces, such as ball shapes or complex geometries.
Innovation Solution
A grasping mechanism with linkage grasping assemblies featuring rods of varying lengths and adjustable configurations, allowing the grasping portion to adapt its angle relative to the object, enabling secure grasping of complex shapes through rotational movement and deformation of rods.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot is to grasp various types of objects, then the robot needs multiple types of grasp mechanisms, but this increases the complexity of the robot system
Solution Approach 1:
The grasp mechanism is designed with a universal structure that can adapt to different object types through adjustable parameters. The pressing element can be positioned at multiple locations along the pressing direction, and the degree of pressing can be varied, allowing a single mechanism to perform multiple grasping functions rather than requiring separate mechanisms for each object type.
Solution Approach 2:
The grasp mechanism incorporates dynamic adjustability where the pressing element's position and the pressing degree can be changed during operation. This dynamic capability allows the mechanism to adapt to different object geometries and material properties, providing versatility without adding fixed complex subsystems.
2Strength
If the pressing element is pressed toward the object with a large pressing degree, then the robot can grasp hard objects, but the mechanism cannot grasp soft objects
Solution Approach 1:
The mechanism allows dynamic adjustment of the pressing degree, enabling the robot to apply high pressing forces for hard objects or reduced pressing forces for soft objects. This dynamic control resolves the contradiction by making the pressing degree an adjustable parameter rather than a fixed characteristic.
Solution Approach 2:
The pressing degree is changed as a controllable parameter based on the object being grasped. By varying this parameter, the same mechanism can appropriately grasp both hard and soft objects, eliminating the need for multiple specialized mechanisms.
3Manufacturing precision
If the pressing element is positioned at a specific location to grasp a specific object, then the grasping precision is high, but the mechanism cannot grasp other types of objects
Solution Approach 1:
The position of the pressing element is made dynamically adjustable rather than fixed. This allows the mechanism to achieve high grasping precision for each specific object by positioning the pressing element appropriately, while simultaneously maintaining the capability to grasp various other object types through repositioning.
Solution Approach 2:
The pressing element structure is segmented or modular, allowing it to be positioned at multiple discrete locations along the pressing direction. This segmentation enables precise positioning for different object types while maintaining a unified mechanism structure.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
Grasping mechanism (50) includes a base (10) and at least two linkage grasping assemblies (20). Each linkage grasping assembly includes a grasping member (210), a first rod (220) and a second rod (230). The grasping member includes a grasping portion (212) and a connecting portion (214). The first rod has a first end rotatably connected to the connecting portion and a second end rotatably connected to the base. The second rod has a first end rotatably connected to the connecting portion and a second end rotatably connected to the base. The length of a first connecting line (L1) between rotation centers of two ends of the first rod is constantly different from the length of a second connecting line (L2) between rotation centers of two ends of the second rod, or the length of the first connecting line is different from the length of the second connecting line in a certain operation state.