Robot Palm With Particle Jamming For Adaptive Gripping
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current robotic palms face challenges in adapting to various object shapes and maintaining a firm grip, especially with heavy objects, due to limited adaptability and rigidity, which is not effectively addressed by existing technologies.
Innovation Solution
A robot palm design featuring a housing with a particle-containing space and an upper membrane that changes shape and rigidity in response to pressure changes, incorporating a double chamber structure with an air-receiving space to enhance adaptability and gripping capabilities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a soft robotic hand is used to adapt to various object shapes, then adaptability to object geometry is improved, but the ability to hold heavy objects and maintain firm grip deteriorates
Solution Approach 1:
The patent applies parameter changes by transitioning the palm material from a purely soft state to a jammed state with increased rigidity. This is achieved by changing the physical state of granular material inside the palm through pressure control, allowing the system to adapt between soft and rigid states as needed for different gripping scenarios
Solution Approach 2:
The patent uses composite materials by combining soft elastomeric material with granular material (such as sand or shot) inside the palm chamber. This composite structure allows the palm to exhibit both softness for adaptation and rigidity for force transmission, resolving the contradiction between adaptability and grip strength
2Adaptability or versatility
If a robot palm is designed with fixed thickness, then structural simplicity is maintained, but adaptability to objects of various sizes deteriorates
Solution Approach 1:
The patent applies dynamics by making the palm thickness variable rather than fixed. The palm can dynamically adjust its thickness by controlling the pressure of granular material inside the chamber, allowing it to become thinner or thicker as needed to adapt to objects of various sizes while maintaining a relatively simple overall structure
Solution Approach 2:
The patent changes the physical parameters of the palm by controlling the volume and pressure of granular material inside the chamber. By adjusting these parameters, the palm's effective thickness and shape can be modified to match the size and geometry of different objects, achieving adaptability without complex mechanical structures
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 robot palm improves adaptability to object shapes by allowing volume changes, enabling deformation to fit objects of varying sizes and lifting capabilities without thickness limitations, providing a stable grip through pressure-controlled membrane deformation.
Implementation Method 1
an upper membrane installed at an upper portion of the housing and configured to grip an object by changing its shape and rigidity according to a pressure change of the particle-containing space
Implementation Method 2
a housing having a particle-containing space configured to accommodate particles and in which a pressure is changeable; particles filled in the particle-containing space
Data Source
AI summary
The present disclosure provides a robot palm, which includes: a housing having a particle-containing space configured to accommodate particles so that a pressure thereof is changeable; particles filled in the particle-containing space; and an upper membrane installed at an upper portion of the housing and configured to grip an object by changing its shape and rigidity according to a pressure change of the particle-containing space.