Robot Gripper With Nested Fingers For Versatile Grasping
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Solution Overview
Problem
Conventional robot grippers require multiple devices for different operations, such as grasping soft objects like bundles of linear members and pinching small objects like connectors, leading to increased operational time and the need for frequent gripper replacements.
Innovation Solution
A versatile gripping device with adjustable finger parts, including first and second finger parts with rotary joints, that can change shape and position to grip various objects, allowing for both grasping and pinching functions without the need for multiple grippers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple grippers are used for different operations (grasping soft objects and pinching small objects), then the gripper can perform specialized functions, but the device complexity and operation time increase due to frequent replacements
Solution Approach 1:
The patent implements a single gripper that can perform both grasping and pinching operations by enabling the second finger part to enter the opening of the first finger part. This multi-functional design eliminates the need for multiple specialized grippers, reducing device complexity while maintaining versatility for different target objects
Solution Approach 2:
The gripper employs dynamic reconfiguration where the second finger part can move between external and internal positions relative to the first finger part's opening. This dynamic adjustment allows the same gripper structure to adapt its geometry for different operations (grasping vs. pinching), resolving the contradiction between versatility and complexity
2Adaptability or versatility
If gripper replacement is performed frequently to accommodate different target objects, then the gripper can be optimized for each specific task, but the total operation time increases
Solution Approach 1:
By designing a single gripper capable of both grasping and pinching functions through the movable second finger part, the system eliminates frequent gripper replacements. This maintains task-specific optimization while continuously operating, thereby improving productivity without sacrificing adaptability
Solution Approach 2:
The gripper enables continuous operation by eliminating the interruption caused with gripper replacement. The dynamic reconfiguration of the second finger part allows seamless transition between grasping and pinching modes, maintaining continuous useful action and improving overall operation speed
Data Source
AI summary
A gripper includes a first finger part and a second finger part. The first finger part has a first finger main body part having an opening, and a first fingertip part for contacting a target object to be gripped. The second finger part has a second finger main body part and a second fingertip part for contacting the target object. The first fingertip part and the second fingertip part pinch the target object by moving closer to each other. Further, the second finger part enters the inside of the opening, so that the first finger main body part and the second finger main body part grasp the target object.