Overlapping Soft Actuator Gripper for Spill-Resistant Grasping

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Solution Overview

Problem

Conventional grasping devices using fluid pressure actuators that curve during contraction often experience objects spilling out due to the shape of the object, leading to unreliable grasping.

Innovation Solution

The design incorporates a plurality of soft fluid pressure actuators that curve during contraction, with their tip portions overlapping when contracted, ensuring secure grasping by preventing object spillage.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a fluid pressure actuator that curves during contraction is used, then the actuator can adapt to different object shapes, but the object may spill out from the tip of the curled actuator

Engineering Contradiction:

Improveadaptability to object shapesVSAvoidgrasping reliability

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The grasping device divides the grasping function into multiple actuators instead of using a single curled actuator. By segmenting the grasping mechanism into multiple units whose tips overlap, the system maintains adaptability to various object shapes while preventing object spillage through coordinated action of multiple actuators

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The tips of multiple fluid pressure actuators are positioned to overlap with each other, creating a nested or interlocking configuration. This overlapping arrangement ensures that objects are constrained by multiple actuators simultaneously, preventing spillage while maintaining the curved configuration needed for shape adaptation

Inventive Principle:

Principle #7Nested doll (Nesting)

2Shape

If the fluid pressure actuator curves during contraction, then it can conform to object contours, but the grasping stability deteriorates due to object spillage

Engineering Contradiction:

Improveactuator curvatureVSAvoidgrasping stability

Core Design Contradiction:

ShapeVSStability of the object's composition

Solution Approach 1:

Multiple fluid pressure actuators are combined in a configuration where their tip portions overlap. This merging of multiple actuators creates a stable grasping structure that maintains the curved shape needed for contour conformation while the combined action of multiple actuators prevents object spillage and enhances grasping stability

Inventive Principle:

Principle #5Merging (Combining)

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

This configuration effectively prevents objects from spilling out, enabling more reliable grasping and secure holding of objects using fluid pressure actuators that curve during contraction.

Implementation Method 1

a rubber tube that expands and contracts by air pressure

Methodology Applied

Scientific EffectAir pressure: Pressure Increase

Implementation Method 2

a fluid pressure actuator that curves (curls) during contraction

Methodology Applied

Scientific EffectElastic deformation: Elasticity

Data Source

PatentUS20250050512A1Grasping device

Publication Date: 2025.02.13 BRIDGESTONE CORP

AI summary

The grasping device 1 is a grasping device using a plurality of fluid pressure actuators 10 which are curved during contraction. In the bottom view of the grasping device 1, a tip portion of the fluid pressure actuator 10 overlaps with a tip portion of another fluid pressure actuator 10 when each of the fluid pressure actuators 10 contracts.