Pantograph Gripper Fingers for Variable-Shape Component Handling
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Solution Overview
Problem
Existing industrial grippers struggle to adapt automatically to components with markedly different shapes and sizes while ensuring stability and simplicity, often requiring complex control systems.
Innovation Solution
A gripping device with pantograph linkage and wedge-shaped gripping fingers, featuring a cogged-belt inner surface and elastomeric material, allows for flexible adaptation to varying shapes and sizes without complex control, ensuring reliable operation and simplicity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a dedicated configuration gripper is used for specific piece shapes and sizes, then gripping stability is improved, but adaptability to different shapes and sizes deteriorates
Solution Approach 1:
The gripping device employs two pantograph linkages that can dynamically adjust their configuration angles independently, allowing the gripper to adapt its geometry to match different piece shapes and sizes while maintaining stable gripping contact points
Solution Approach 2:
The device changes geometric parameters (configuration angles of the pantograph linkages) to adapt to different gripping requirements. By varying the angles α and β, the gripper can optimize its geometry for each specific piece while maintaining reliable contact
2Adaptability or versatility
If a gripper with high adaptability to different shapes and sizes is designed, then operating flexibility is improved, but device complexity increases
Solution Approach 1:
The pantograph linkage mechanism serves multiple functions simultaneously: it provides structural support, enables geometric adaptation to different piece sizes and shapes, and maintains stable contact points. This multi-functionality achieves high adaptability without proportionally increasing complexity
Solution Approach 2:
The gripping device is divided into modular pantograph linkages with articulated segments that can independently adjust their configuration angles, allowing complex adaptation behavior through simple modular components rather than a monolithic complex structure
3Adaptability or versatility
If automatic adaptation to different piece geometries is implemented, then operating flexibility is improved, but control system complexity increases
Solution Approach 1:
The pantograph linkages perform automatic geometric adaptation through their own mechanical degrees of freedom without requiring external control systems. The mechanism self-adjusts its configuration based on the piece geometry it encounters, eliminating the need for complex sensors, actuators, and control algorithms
4Reliability
If gripping arms are designed to maintain parallel configuration during movement, then gripping stability is improved, but device complexity increases
Solution Approach 1:
The pantograph linkages dynamically maintain the parallel configuration of gripping arms during movement through their articulated structure. This dynamic constraint maintenance achieves stable gripping without requiring complex active control mechanisms
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
The device provides high operating flexibility and reliability in gripping components with diverse shapes and sizes, minimizing collision risks and facilitating pick-and-place operations with reduced complexity.
Implementation Method 1
Each gripping arm 4 includes a proximal portion, designated as a whole by the reference number 6, configured in the form of a pantograph linkage
Implementation Method 2
the body of the distal portion of each gripping arm is in the form of a gripping finger, having a wedge-shaped configuration
Implementation Method 3
the body of the gripping finger 7 is a full piece consisting of elastomeric material
Implementation Method 4
the wall defining the aforesaid inner, gripping, surface is in the form of a cogged-belt portion
Data Source
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AI summary
A gripping device (1), which can be used, for example, on a robot for handling pieces or components (P) that have variable shapes and sizes, comprises a main supporting structure (2), defining a main axis (3) of the device, and a plurality of gripping arms (4), each of which includes a first, proximal, arm portion (6) and a second, distal, arm portion (7). Each gripping arm (4) constitutes a modular unit, which can be assembled as a whole on the main supporting structure (2). The proximal arm portion (6) is a pantograph linkage configured in such a way that, during a movement of articulation of the proximal arm portion (6), the distal arm portion (7) remains parallel to itself. The electric motor (M) associated to each gripping arm (4) is arranged with its axis parallel to the main axis (3). The pantograph linkage (6) is controlled by the respective electric driving motor (M) by means of a screw/nut-screw system. The distal portion (7) of each gripping arm (4) comprises a body made of a single piece of elastomeric material, in the form of a gripping finger.