Method for producing a gripper by means of 3D printing
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Solution Overview
Problem
Conventional manufacturing methods for robotic gripping systems are inadequate for meeting increasingly demanding requirements and result in increased setup time and the need for multiple gripping systems, as they do not allow for integration of sensors and flexible materials without additional processing steps.
Innovation Solution
A method for manufacturing a multifunctional gripper jaw using 3D multi-material printing, integrating sensors and fiber reinforcement during the printing process, eliminating the need for separate attachment and coating processes, and allowing for different material properties in a single manufacturing step.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If conventional manufacturing methods (casting, machining) are used for gripper jaws, then manufacturing precision and strength can be achieved, but setup time increases and multiple gripping systems are required for different applications
Solution Approach 1:
The patent implements multi-functionality by integrating diverse sensors (capacitive, inductive, resistive, Hall effect), flexible outer layers, fiber reinforcement, and coating capabilities into a single gripper jaw manufacturing process. This allows one gripper system to serve multiple application profiles, eliminating the need for multiple specialized gripping systems and reducing robot setup time when changing applications.
Solution Approach 2:
The patent combines multiple manufacturing processes (3D printing, sensor attachment, material coating, fiber embedding) into a single integrated manufacturing step. By printing the gripper jaw with integrated sensors and materials in one operation, the process eliminates sequential processing steps and reduces setup time while maintaining manufacturing precision.
2Adaptability or versatility
If separate sensors and flexible materials are attached to gripper jaws, then sensor functionality and flexibility are achieved, but manufacturing complexity and processing time increase
Solution Approach 1:
The patent merges sensor manufacturing with gripper jaw production by printing sensors directly onto the gripper surface during the same 3D printing process. This integration eliminates separate sensor attachment steps, reduces manufacturing complexity, and maintains full sensor functionality (capacitive, inductive, resistive, Hall effect sensors).
Solution Approach 2:
The manufacturing process achieves multi-functionality by simultaneously producing the gripper jaw structure, integrating multiple sensor types, applying flexible outer layers, and embedding fiber reinforcement in a single operation. This universal process handles what would traditionally require multiple specialized manufacturing steps.
3Strength
If fiber reinforcement is added to increase load-bearing capacity, then strength is improved, but weight and manufacturing complexity increase
Solution Approach 1:
The patent applies fiber reinforcement locally only where structural strength is needed within the gripper jaw, rather than uniformly throughout. This selective reinforcement maintains load-bearing capacity while minimizing additional weight. The same principle applies to sensor placement and material property variation across different regions of the gripper.
Solution Approach 2:
The patent uses composite materials by embedding fibers (such as carbon fiber) within the printed gripper jaw structure. This creates a composite material system that provides enhanced strength and stiffness-to-weight ratio compared to solid material alone, improving load-bearing capacity without proportionally increasing weight.
4Reliability
If multiple manufacturing processes are used for gripper production, then functional requirements are met, but production time and material waste increase
Solution Approach 1:
The patent combines multiple manufacturing processes (3D printing, sensor fabrication, material deposition, fiber embedding) into a single unified printing operation. This consolidation maintains all required functional properties (sensor accuracy, material strength, flexibility) while eliminating the time losses associated with transitioning between separate manufacturing processes.
Solution Approach 2:
The manufacturing process performs preliminary actions by pre-integrating sensors, fibers, and coating materials during the primary printing process itself, rather than adding them later. This preliminary integration ensures functional requirements are met from the start and eliminates subsequent processing time.
Data Source
Figure 1a
Figure 1b~1c
Figure 1d
AI summary
The invention relates to a method for 3D printing a robot element, in particular a finger 5, for use in robotics, in which at least one sensor 7 is co-printed during the printing of the robot element using multi-material printing. The invention further relates to an actuating or gripping element, in particular a finger 5 for a robot, which was produced by such a method.