Mechanical Grasping End Effector Using Passive Linkage Actuation
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Solution Overview
Problem
Exoskeleton suits and robotic end effectors often require a power source, which can be a limitation in environments where power is unavailable or battery power is depleted, making it difficult to perform manufacturing tasks effectively.
Innovation Solution
A mechanical device with a receiver and grabber assemblies, featuring a mechanical linkage with bevel gears or linkages that kinematically couple the arms to grasp and move objects without a power source, allowing for mechanical displacement to open and close the arms around an object.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If exoskeleton suits are equipped with power sources (electric motors, pneumatics, or hydraulics) to enable end effector operation, then the strength and endurance of the user are improved, but the weight and cumbersome nature of the suit increase
Solution Approach 1:
The invention extracts the power source from the exoskeleton system and relocates it to the object being manipulated. The end effector becomes a passive mechanical device that derives its operating force from the weight and motion of the object itself, rather than from an onboard motor or actuator. This extraction eliminates the need for heavy batteries, motors, and power transmission components in the exoskeleton.
Solution Approach 2:
The object being manipulated serves its own weight as the driving force for the end effector's operation. The mechanical linkage is designed so that the object's own gravity and motion automatically actuate the gripping and manipulation actions, making the system self-powered without requiring external energy sources.
2Ease of operation
If battery power is used in exoskeleton suits, then the end effectors can be operated, but the battery power may be dissipated before completion of the manufacturing task
Solution Approach 1:
The end effector system uses the object's own weight and motion to power the gripping and manipulation actions. The mechanical linkage converts the object's gravitational force and movement into the actuating force needed for gripping, eliminating the need for battery power and ensuring unlimited operational duration.
3Use of energy by moving object
If mechanical linkages with bevel gears are used to couple the arms, then the grasping mechanism can operate without power, but the device complexity increases
Solution Approach 1:
The invention replaces active mechanical systems (motors, sensors, controllers) with a passive mechanical linkage system. The bevel gears and mechanical coupling create a self-actuating mechanism that uses the object's own motion to drive the gripping action, eliminating the need for powered actuators while accepting increased mechanical complexity.
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 the grasping and manipulation of objects without the need for electricity, hydraulics, or pneumatics, providing a reliable solution for tasks in power-constrained environments while maintaining the functionality of exoskeleton suits and robotic systems.
Implementation Method 1
A mechanical linkage is disposed near the proximal end portion of the first arm and the second arm, the mechanical linkage comprising a hub assembly comprising a shaft rotationally coupled to opposed bevel gears
Data Source
AI summary
A mechanical device for grasping an object without a power source includes a receiver and at least one grabber assembly secured to the receiver. The grabber assembly includes first and second arms with proximal end portions and distal end portions, hooks disposed at the distal end portions, and a mechanical linkage disposed near the proximal end portion of the first arm and the second arm. The mechanical linkage kinematically couples the first arm to the second arm. Displacement of the first arm or the second arm against the object causes movement of the mechanical linkage and thus movement of the second arm or first arm, respectively.