Passively Folding Vacuum Gripper With Flexible Object Conformity

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Solution Overview

Problem

Existing end-effectors for robotic systems face challenges in grasping a wide range of objects with different materials and textures, often requiring specific seals that can damage objects and have limited lifting force, and are mechanically complex.

Innovation Solution

A passively folding vacuum gripper with a flexible body that adapts to the shape of the object, using vacuum pressure to create tension and shear forces for secure grasping, allowing it to bend and conform to various objects without additional actuators.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a vacuum gripper uses a rigid suction cup, then the structure is simple, but it cannot adapt to objects with different shapes and may damage the object

Engineering Contradiction:

Improveadaptability to different object shapesVSAvoidgripper structure complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent employs a flexible contact portion made of elastomeric material that can deform and conform to the shape of the grasped object. This flexible shell approach allows the gripper to adapt to various object geometries without requiring complex mechanical structures, resolving the contradiction between adaptability and structural simplicity

Inventive Principle:

Principle #30Flexible shells and thin films

Solution Approach 2:

The contact portion transitions from a rigid state to a flexible, deformable state during grasping. The elastomeric material dynamically adapts its shape based on the object being grasped, enabling versatility while maintaining a simple underlying structure that only requires vacuum actuation

Inventive Principle:

Principle #15Dynamics

2Force

If a vacuum gripper increases the contact area to increase lifting force, then the lifting capacity improves, but the gripper may unintentionally grab multiple items

Engineering Contradiction:

Improvelifting forceVSAvoidgrasping precision

Core Design Contradiction:

ForceVSProductivity

Solution Approach 1:

The patent creates localized high-contact-area regions through the deformation of the flexible contact portion. The elastomeric material concentrates the vacuum force locally at the interface with the target object, providing sufficient lifting force while maintaining the ability to distinguish and grasp only the intended object rather than multiple items

Inventive Principle:

Principle #3Local quality

3Force

If a vacuum gripper uses a large suction cup to lift heavy objects, then the lifting force increases, but the vacuum pressure may damage delicate objects

Engineering Contradiction:

Improvelifting forceVSAvoidobject damage from vacuum pressure

Core Design Contradiction:

ForceVSObject-affected harmful factors

Solution Approach 1:

The flexible elastomeric contact portion distributes the vacuum pressure uniformly across the contact area, preventing localized stress concentrations that could damage delicate objects. The material compliance allows the gripper to achieve high lifting forces through increased contact area rather than increased vacuum pressure, eliminating the harm to sensitive objects

Inventive Principle:

Principle #30Flexible shells and thin films

4Stability of the object's composition

If a preheated coating is applied to reduce surface tension, then the coating spreads evenly, but the process time increases

Engineering Contradiction:

Improvecoating uniformityVSAvoidcoating process time

Core Design Contradiction:

Stability of the object's compositionVSLoss of time

Solution Approach 1:

The coating material is preheated before application to reduce its surface tension and increase its fluidity. This preliminary thermal treatment allows the coating to spread evenly and conform to the substrate surface more quickly, achieving uniform coverage without significantly extending the overall process time

Inventive Principle:

Principle #10Preliminary action

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 gripper securely grasps diverse objects, including flexible and rigid items, without damage, and provides a stable hold through shear forces, enhancing the versatility and reliability of robotic object handling.

Implementation Method 1

using vacuum pressure to create tension and shear forces for secure grasping

Methodology Applied

Scientific EffectVacuum pressure: Vacuum

Data Source

PatentUS20250236025A1Systems and methods for object processing using a passively folding vacuum gripper

Publication Date: 2025.07.24 BERKSHIRE GREY OPERATING CO INC

AI summary

An end-effector for a programmable motion device is disclosed. The end effector includes a body that includes a contact portion, the body providing an open interior through which a vacuum may be provided to the contact portion, and the body including at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping.