Passive Gripper Geometry for Diverse Object Pickup
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Solution Overview
Problem
Passive grippers are limited in the types of shapes they can grasp due to their restrictive design, which hinders their widespread use in robotics, especially in tasks requiring versatility and adaptability.
Innovation Solution
A method is developed to automatically generate a custom gripper and its grasp insertion trajectory for stable pickup of various shapes, using a system that identifies suitable grasp configurations, selects the appropriate configuration, and fabricates a passive gripper based on a template, allowing for rapid customization and adaptation to different objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If passive grippers use fixed geometric designs, then manufacturing cost and energy consumption are reduced, but the types of shapes that can be grasped are significantly restricted
Solution Approach 1:
The patent applies dynamics by making the gripper geometry adaptive rather than fixed. The system dynamically generates custom gripper geometries based on the target object's shape using computational methods. The gripper template is dynamically adjusted to match the specific grasp configuration required for each object, enabling the same physical gripper mechanism to adapt to various object shapes through software-generated geometric parameters.
Solution Approach 2:
The patent changes geometric parameters of the gripper based on the object being grasped. The computational system generates custom gripper templates with specific geometric parameters (finger curvature, length, contact points) that are optimized for each target object's shape. This parameter customization allows the gripper to grasp diverse shapes while maintaining a consistent physical mechanism.
2Adaptability or versatility
If custom grippers are designed for each object shape, then grasping versatility is improved, but manufacturing and deployment cost increases
Solution Approach 1:
The patent uses copying by generating virtual gripper templates computationally rather than creating physical master patterns. The system creates digital representations of custom gripper geometries that can be rapidly reproduced through automated fabrication processes. This virtual copying approach eliminates the need for manual design and physical prototyping of each custom gripper, significantly reducing manufacturing costs while maintaining customization capabilities.
Solution Approach 2:
The patent enables easy manufacturing by parameterizing the gripper design. Instead of designing unique geometries from scratch for each object, the system modifies parameters of a base gripper template (finger curvature, contact point locations, segment lengths) to match the target object. This parameter-based approach allows rapid generation of manufacturing-ready designs with minimal computational effort and standard fabrication processes.
3Use of energy by moving object
If passive grippers are used to reduce energy consumption, then energy efficiency is improved, but the range of graspable shapes is limited
Solution Approach 1:
The patent applies preliminary action by pre-computing the optimal gripper geometry and grasp configuration before the actual grasping task. The computational system analyzes the target object's shape and generates the custom gripper template in advance, allowing the passive gripper to be precisely configured for the specific object. This preliminary computational preparation enables the passive mechanical gripper to achieve high adaptability without requiring energy-consuming actuators during the grasping operation.
Data Source
AI summary
Passive grippers can be computationally generated for grasping objects. For example, a method described herein for producing a passive gripper for the object can include identifying a set of grasp configurations for the object. The method can also include selecting, from the set, a particular grasp configuration configured for performing passive engagement and disengagement with the object. Additionally, the method can include generating a template for the passive gripper based on the particular grasp configuration. The method can include fabricating the passive gripper based on the template.