Parallel Gripper Jaws with Elastic Segments for Shape Adaptation

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Solution Overview

Problem

Parallel-type grippers with rigid jaws are limited in gripping objects of various shapes and require multiple jaw configurations, while flexible grippers lack repeatability and gripping force, and existing adaptive grippers face challenges with complex environments and ground contact.

Innovation Solution

A parallel-type gripper with a pair of jaws connected by a horizontal driving module, featuring a first actuation mechanism with an upper and lower joint and elastic member for vertical movement, and a second actuation mechanism with a link unit and elastic member to maintain posture, allowing adaptability to the environment without complex control algorithms or sensors.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Force

If rigid jaws are used to provide strong gripping force, then gripping strength is improved, but adaptability to objects of various shapes deteriorates

Engineering Contradiction:

Improvegripping forceVSAvoidadaptability to object shapes

Core Design Contradiction:

ForceVSAdaptability or versatility

Solution Approach 1:

The jaw is divided into multiple segments that can independently move relative to each other, transforming the rigid structure into a dynamic one. The segments can adjust their positions to adapt to different object shapes while maintaining gripping force through the parallel mechanism.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The jaw is segmented into multiple sections that can move independently. This segmentation allows each part to conform to different contours of objects while the overall structure maintains the rigidity needed for strong gripping through the parallel kinematic mechanism.

Inventive Principle:

Principle #1Segmentation

2Adaptability or versatility

If flexible materials are used to adapt to object shapes, then adaptability is improved, but repeatability and gripping force deteriorate

Engineering Contradiction:

Improveadaptability to object shapesVSAvoidrepeatability

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The jaw segments incorporate flexible elements that allow controlled deformation to adapt to object shapes. These flexible components are designed within specific geometric constraints that ensure repeatable motion patterns and maintain sufficient structural integrity for reliable gripping.

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The jaw structure allows changes in geometric parameters (segment positions, angles) to adapt to different objects while maintaining consistent motion patterns through the parallel mechanism, ensuring repeatability across different gripping tasks.

Inventive Principle:

Principle #35Parameter changes

3Force

If rigid finger mechanism is used to provide strong gripping, then gripping force is improved, but interaction with surrounding environment deteriorates

Engineering Contradiction:

Improvegripping forceVSAvoidinteraction with environment

Core Design Contradiction:

ForceVSAdaptability or versatility

Solution Approach 1:

The parallel mechanism enables the jaw to dynamically adjust its configuration in response to environmental interactions. The movable segments can adapt to contact with ground or other surfaces while maintaining the structural rigidity needed for strong gripping through the constrained parallel motion.

Inventive Principle:

Principle #15Dynamics

4Adaptability or versatility

If multiple jaw configurations are used to grip various objects, then adaptability is improved, but device complexity deteriorates

Engineering Contradiction:

Improvegripping various objectsVSAvoidnumber of jaw configurations

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The parallel mechanism provides a universal gripping solution where a single jaw configuration can adapt to multiple object types through controlled segment motion. The mechanism achieves multi-functionality through dynamic reconfiguration rather than requiring multiple fixed jaw configurations.

Inventive Principle:

Principle #6Universality (Multi-functionality)

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 adaptable and safe gripping of objects with simple structure, maintaining vertical posture and adjusting to different environments, including inclined surfaces, without requiring complex control or sensors, enhancing versatility and reliability.

Implementation Method 1

a first elastic member connected between the upper joint portion and the lower joint portion to provide a restoring force

Methodology Applied

Scientific EffectElasticity: Elasticity

Implementation Method 2

a second elastic member that provides a restoring force by being connected between the lower link and the contact portion

Methodology Applied

Scientific EffectElasticity: Elasticity

Data Source

PatentUS20230075011A1Parallel type gripper

Publication Date: 2023.03.09 POSTECH ACADEMY INDUSTRY FOUNDATION

AI summary

A parallel-type gripper according to an embodiment of the present invention includes: a pair of jaws that are opposite to each other; and a parallel-type driving module in which the pair of jaws are movably connected in a horizontal direction such that they approach or move away from each other, and moving the pair of jaws in the horizontal direction so that the pair of jaws grip an object.