Parallel Gripper With Self-Aligning Clamps for Short-Edge Objects
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Solution Overview
Problem
Existing grippers struggle to reliably grasp objects with short edges or misaligned features due to inadequate self-alignment and orientation mechanisms, leading to unreliable gripping.
Innovation Solution
A gripper finger arrangement with a self-alignment feature using biasing mechanisms, such as springs or magnets, to ensure the clamp maintains a default orientation parallel to the lateral direction, combined with anti-rotation features to limit angular deviation, and a self-centering mechanism for objects with short edges.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a parallel gripper uses fixed contact surfaces for gripping, then the structure is simple, but it cannot reliably grasp objects with short edges or misaligned features
Solution Approach 1:
The clamp is made rotatable about a vertical rotation axis, allowing it to dynamically adjust its orientation relative to the gripper finger. This dynamic capability enables the contact surface to automatically align with objects having short edges or misaligned features, significantly improving gripping reliability without requiring multiple fixed contact configurations
Solution Approach 2:
A self-alignment feature comprising biasing mechanisms (such as springs or magnets) automatically centers and orients the clamp in the default position when no gripping force is applied. This self-centering action occurs without external intervention, ensuring the clamp returns to its optimal starting orientation after each gripping cycle, thereby maintaining reliability while avoiding complex control systems
2Adaptability or versatility
If the clamp is made rotatable to adapt to different object orientations, then adaptability improves, but control over clamp orientation becomes difficult
Solution Approach 1:
The self-alignment feature with biasing mechanisms automatically centers and orients the clamp in the default position when no gripping force is applied. This self-centering action occurs without external intervention, ensuring the clamp returns to its optimal starting orientation after each gripping cycle, thereby maintaining reliability while avoiding complex control systems
Solution Approach 2:
Magnetic forces are used as the biasing mechanism to provide centering and orientation control, replacing traditional mechanical springs or actuators. This magnetic field-based approach simplifies the control system while maintaining precise orientation control, as the magnetic force automatically guides the clamp to its correct position without requiring complex mechanical linkages or active control algorithms
3Manufacturing precision
If biasing mechanisms are added to provide self-alignment, then alignment precision improves, but the device complexity increases
Solution Approach 1:
Magnetic forces are used as the biasing mechanism to provide centering and orientation control, replacing traditional mechanical springs or actuators. This magnetic field-based approach simplifies the control system while maintaining precise orientation control, as the magnetic force automatically guides the clamp to its correct position without requiring complex mechanical linkages or active control algorithms
Solution Approach 2:
The vertical rotation axis serves multiple functions: it enables the clamp to rotate for orientation adaptation, serves as the pivot point for the self-alignment feature, and allows the anti-rotation feature to effectively limit angular deviation. By consolidating these functions into a single rotational degree of freedom, the design achieves precise alignment without adding unnecessary components
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 solution enables the gripper to securely grasp various labware items, including those with short edges and misalignments, by ensuring consistent alignment and orientation, enhancing reliability and stability during handling.
Implementation Method 1
The biasing mechanisms may comprise springs or spring-like elements, whereby elastic deformation generates the centering forces and the preload.
Implementation Method 2
Magnetic forces may also be used.
Data Source
Figure 1a
Figure 1b
Figure 1c
AI summary
The invention relates to an arrangement of a gripper finger and a clamp for use in an automated parallel gripper comprising first and second gripper fingers that are moveable in a direction of translation (y), whereby the clamp is connected to the gripper finger at an underside thereof, so as to be rotational about a vertical axis of rotation (135). The clamp has a front face with a contact surface for engagement with a lateral edge of an item to be gripped and has a default orientation in which the front face is parallel to a lateral direction (x) that is perpendicular to the direction of translation (y) and to the vertical rotation axis (135). The arrangement is additionally provided with a self-alignment feature which comprises first and second biasing mechanisms arranged at either side of the rotation axis (135) in lateral direction (x). Each biasing mechanism has a first part (151, 152) connected to the finger and a second part (131, 132) connected to the clamp and is configured to exert a centering force that urges the first and second parts of each biasing mechanism into alignment with each other. When the clamp is in the default orientation, each biasing mechanism is preloaded to exert an equal moment load on the clamp in the direction of translation (y).