Modular Robot Gripper With Detachable Fingers for Versatile Grasping
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Solution Overview
Problem
Existing grippers have a limited ability to perform multiple operations due to the use of a single, non-replaceable finger module, restricting their versatility in handling various tasks.
Innovation Solution
A gripper design that allows for detachable coupling of multiple finger modules with adjustable distance and rotational actuators, including roll modules and fingertips with varying contact surfaces, and a control system to manage module changes and operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single non-replaceable finger module is used in the gripper, then the device complexity is reduced, but the adaptability to perform multiple operations deteriorates
Solution Approach 1:
The gripper is divided into a palm module and multiple replaceable finger modules. Each finger module can be independently detached and replaced based on the specific task requirements, allowing the system to maintain simple base structure while achieving high versatility through modular components.
Solution Approach 2:
The palm module is designed as a universal base that can accommodate multiple types of finger modules through standardized coupling mechanisms. This allows a single palm module to perform multiple different operations by simply changing the attached finger module, achieving multi-functionality without increasing overall system complexity.
2Adaptability or versatility
If multiple replaceable finger modules are introduced to enhance adaptability, then the versatility of operations is improved, but the device complexity increases
Solution Approach 1:
A universal coupling interface is designed between the palm module and finger modules, allowing different finger modules to be interchangeably attached to the same palm module. This standardized interface reduces the complexity that would otherwise arise from multiple specialized connection mechanisms.
Solution Approach 2:
The finger modules are designed with self-identifying features and automatic recognition mechanisms that allow the control system to automatically detect which module is attached and adjust control parameters accordingly, reducing the complexity of manual configuration and system setup.
3Ease of operation
If fixed finger modules are used, then the ease of operation is maintained, but the adaptability to handle various shapes and sizes deteriorates
Solution Approach 1:
The gripper system transitions from a static configuration to a dynamic one where finger modules can be changed during operation. The control system dynamically adapts to the attached module type and automatically adjusts control parameters, maintaining ease of operation while enabling handling of various object shapes and sizes.
Solution Approach 2:
Sensors and detection mechanisms provide real-time feedback about the attached finger module type and the grasped object characteristics. This feedback enables the control system to automatically adjust operation parameters, maintaining ease of use while achieving high adaptability to different objects.
Data Source
AI summary
A gripper includes a palm module configured such that finger modules of different forms are detachably couplable to the palm module, a plurality of finger modules detachably coupled to the palm module, a linear actuator configured to adjust a distance between the plurality of finger modules that are detachably coupled to the palm module, and a plurality of rotation actuators between the linear actuator and the plurality of finger modules, the plurality of rotation actuators configured to respectively rotate the plurality of finger modules about respective first rotation axes extending in a first direction from the palm module toward the plurality of rotation actuators.