Modular Articulating Gripper for Adaptive Workpiece Handling
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Solution Overview
Problem
Existing gripper technologies are limited in accommodating diverse workpiece shapes and sizes, requiring tooling replacement for non-compatible shapes, leading to increased downtime and reduced throughput.
Innovation Solution
A modular gripper with internal fluid-powered actuators that articulate to conform to various workpiece profiles, using a single articulating finger actuated by fluid pressure, allowing for a broad spectrum of shapes and sizes to be gripped, and multiple grippers can be arrayed for increased force and gripping locations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single gripper design is used, then device complexity is reduced, but adaptability to different workpiece shapes and sizes deteriorates
Solution Approach 1:
The gripper employs articulating fingers with multiple degrees of freedom that can dynamically adjust their position and orientation to conform to different workpiece geometries. The fingers pivot at multiple joints, allowing them to adapt their configuration based on the workpiece shape, enabling a single gripper design to handle diverse workpieces without requiring tooling changes.
Solution Approach 2:
The gripper changes its operational parameters including finger articulation angles, gripping forces, and contact point positions to accommodate different workpiece shapes and sizes. By varying these parameters, the same gripper structure can effectively grip various geometries, resolving the contradiction between simplicity and adaptability.
2Adaptability or versatility
If tooling is removed and replaced for non-compatible shapes, then adaptability to different workpiece shapes is improved, but productivity deteriorates due to increased downtime
Solution Approach 1:
The articulating fingers can dynamically reconfigure themselves to match different workpiece profiles in real-time during operation. This eliminates the need for tooling removal and replacement, as the same gripper can adapt to various shapes by adjusting its finger positions and articulation angles, thereby maintaining high productivity while achieving shape compatibility.
Solution Approach 2:
The gripper is designed as a universal tool capable of gripping multiple types of workpieces with different shapes and sizes using the same hardware. The multi-functional capability is achieved through the articulating mechanism that allows the fingers to assume different configurations, eliminating the need for dedicated tooling for each workpiece type and preventing productivity loss from tooling changes.
3Extent of automation
If internal fluid-powered actuators are used, then automation level is improved, but device complexity deteriorates
Solution Approach 1:
The internal fluid-powered actuators are equipped with sensors and control systems that enable them to autonomously determine the appropriate articulation angles and gripping forces based on the detected workpiece geometry. The actuators self-regulate their operation without requiring external intervention for each gripping task, achieving high automation while managing complexity through intelligent control algorithms.
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 cost-effective, automatic adaptation to different workpiece shapes and sizes, reducing downtime and increasing throughput by allowing a single gripper to handle a variety of workpieces without the need for tooling replacement.
Implementation Method 1
A plurality of modular grippers can be arrayed together to increase the total gripping force applied to a gripped workpiece and/or the locations at which the gripping force is applied. The invention in one form is directed to a gripper for gripping a workpiece. The gripper including a base, at least one middle segment pivotally connected to the base, a distal segment pivotally connected to the at least one middle segment, at least one actuator disposed within the base
Data Source
AI summary
A gripper for gripping a workpiece includes: a base; at least one middle segment pivotally connected to the base; a distal segment pivotally connected to the at least one middle segment; at least one actuator disposed within the base; an adducting tendon having a proximal end attached to the at least one actuator and a distal end attached to the distal segment, the at least one actuator being configured for linearly and nonrotationally moving the proximal end of the adducting tendon; and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment, wherein the middle segment and the distal segment are configured for gripping the workpiece as the at least one actuator moves in a first direction and ungripping the workpiece as the at least one actuator moves in a second direction which is opposite to the first direction.