Robotic Gripper Parallel Linkage Mechanism for Wide Working Range
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Solution Overview
Problem
Existing gripper systems have limited working ranges and are not suitable for collaborative robots, as they are bulky, noisy, and not adaptable to various object shapes and sizes. Additionally, they lack the capability for parallel gripping and may pose safety risks due to pinch points.
Innovation Solution
A robotic gripper with a parallel linkage mechanism that allows fingers to move in both sides of the vertical direction, providing a wide working range and parallel gripping capability. The gripper includes a frame with at least two finger units, each equipped with a parallel linkage mechanism comprising links, a linear movable platform, and a finger frame that moves in a straight line, enabling operation on both sides of the vertical axis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional industrial grippers are used for repetitive tasks, then they can grasp objects in certain positions reliably, but they are not adaptable to various objects with different shapes and sizes
Solution Approach 1:
The gripper employs a parallel linkage mechanism that enables the finger to move dynamically in both sides of the vertical direction, allowing adaptation to various object shapes and sizes while maintaining reliable grasping through controlled motion paths
Solution Approach 2:
The gripper design provides multi-functionality by enabling operation on both sides of the vertical axis, allowing a single gripper to handle diverse objects with different orientations and positions, replacing the need for specialized grippers for each task
2Force
If pneumatic grippers are used, then they can provide sufficient gripping force, but they are bulky and noisy which is not suitable for collaborative robots
Solution Approach 1:
The patent replaces the pneumatic system with an electric actuator that directly drives the parallel linkage mechanism, eliminating bulky pneumatic components and reducing noise while maintaining adequate gripping force through precise mechanical advantage
3Adaptability or versatility
If angular grippers are used, then they can grasp objects, but the end does not move in a straight line requiring complex calculation to determine gripping points
Solution Approach 1:
The parallel linkage mechanism is designed to move the finger end in a straight line along the vertical direction, simplifying the control system and eliminating the need for complex gripping point calculations while maintaining versatile grasping capability
4Volume of moving object
If grippers with limited working range are used, then they can maintain compact size, but they cannot grasp various objects with different shapes and sizes
Solution Approach 1:
The gripper extends its working range by enabling motion in both sides of the vertical direction (adding dimensional capability), allowing it to grasp various objects with different shapes and sizes while maintaining a compact structure through efficient use of space
Data Source
AI summary
A robotic gripper, including: a frame, at least two finger units provided on the frame and grasping an object, each of the finger units includes: at least a pair of parallel linkage mechanisms, each of the parallel linkage mechanism includes a first link), a second link, a third link, a linear movable platform, and a finger frame, the mechanism that aims to move the finger frame in a straight line or a substantially straight line, and are capable of moving to either of sides with respect to the direction along the stroke of the linear movable platform, the linear movable platform including one or more slidable bearings slidable along one or more shafts, respectively, the linear sliding stroke along one or more shafts is configured so each shaft is aligned or nearly aligned to the other end of the first link located on the frame.