Long-stroke Parallel Gripper With Sliding Mechanism
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Solution Overview
Problem
Existing robotic gripper systems lack the capability for precise force-based interactions and are often expensive and require operator-free environments, failing to effectively handle a variety of objects, including fragile and soft items.
Innovation Solution
A long-stroke and force-control parallel gripper with a sliding mechanism and interchangeable fingers, utilizing a linear bearing system with guide rails and carriages, and a spring-loaded latch mechanism, allowing for versatile grasping of objects without the need for extensive reconfiguration or force sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional robotic gripper systems are used, then basic grasping function is provided, but precise force control capability is inadequate
Solution Approach 1:
The gripper incorporates an integrated force control system with sensors and control algorithms that enable the system to automatically regulate and adapt its grasping force. The force sensors detect contact forces and feed back to the controller, which adjusts motor commands in real-time to maintain precise force levels without requiring external operator intervention or complex external force control equipment.
Solution Approach 2:
The gripper employs interchangeable finger modules with different geometries and materials that can be swapped to handle various object types including fragile, soft, and rigid items. This modular design provides universal handling capability across diverse objects while maintaining consistent force control through the integrated sensor system, eliminating the need for multiple specialized grippers.
2Extent of automation
If existing robotic gripper systems are used, then operator-free work environments are required, but system cost becomes highly expensive
Solution Approach 1:
The gripper replaces complex mechanical force control mechanisms with an integrated electronic control system that uses force sensors and motor control algorithms to achieve precise force regulation. This substitution of mechanical complexity with electronic control reduces manufacturing costs while maintaining automated operation capability, as electronic components are generally more cost-effective than precision mechanical assemblies.
Solution Approach 2:
The integrated force control system enables the gripper to autonomously regulate its own operation through real-time sensor feedback and automated motor control. This self-regulating capability eliminates the need for expensive external force control equipment or operator intervention, achieving cost-effective automation through built-in intelligence rather than added external systems.
3Adaptability or versatility
If standard gripper designs are used, then basic grasping is achieved, but handling of fragile and soft items is inadequate
Solution Approach 1:
The gripper uses force sensors to continuously monitor contact forces and dynamically adjusts motor commands to maintain force within safe thresholds. This real-time parameter adjustment prevents excessive force that could damage fragile or soft items, enabling precise force control adapted to different material properties through the interchangeable finger modules.
Solution Approach 2:
The integrated force control system automatically adapts to different object types by monitoring contact forces and adjusting gripper actuation in real-time. This self-regulating capability protects fragile and soft items from damage without requiring manual intervention or pre-programmed force profiles for each object type, achieving both versatility and precision through automated force management.
4Length of moving object
If long-stroke capability is achieved in conventional grippers, then gripper body size becomes large, but compact design is compromised
Solution Approach 1:
The gripper achieves long stroke capability by utilizing the rotational dimension of the DC motor rather than linear extension. The motor rotates to wind the belt, converting rotational motion into linear finger movement. This dimensional transformation allows the stroke length to be determined by the motor's rotational range and belt length rather than linear motor size, enabling compact gripper body volume while maintaining extended stroke capability.
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 precise force control and handling of a wide range of objects, including fragile and soft items, with a longer stroke in a smaller gripper body, enhancing versatility and reducing the need for manual finger replacement.
Implementation Method 1
a spring-loaded latch mechanism, allowing for versatile grasping of objects
Implementation Method 2
utilizing a linear bearing system with guide rails and carriages
Data Source
AI summary
A robotic system including a long-stroke and force-control parallel gripper. The parallel gripper may include an electric motor and siding mechanism to allow the length of the stroke of the fingers to be greater than the distance traveled. The parallel gripper also includes interchangeable fingers that may be engaged and disengage by the robotic system using a secured finger housing and latching mechanism.