Robotic End-Effector Jamming Pads with Resilient Spacers

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Solution Overview

Problem

Robotic hands or grippers typically rely on point or line contact, which is inefficient and unable to conform to objects, due to their rigid surfaces, limiting their ability to effectively grasp and interact with varied surfaces.

Innovation Solution

A robotic end-effector with jamming conformal pads, featuring an exterior membrane and a filler comprising elongate resilient spacers and jamming particles, allowing the pads to transition between compliant and stiff configurations to conform to object surfaces, achieving area contact and distributed forces.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Strength

If rigid surfaces are used for robotic hands or grippers, then structural strength is maintained, but the ability to conform to object surfaces is lost

Engineering Contradiction:

Improvestructural strengthVSAvoidability to conform to object surfaces

Core Design Contradiction:

StrengthVSAdaptability or versatility

Solution Approach 1:

The robotic hand employs dynamic stiffening elements that can transition between compliant and stiff states. These elements include resilient spacers and jamming particles that allow the finger to adapt its rigidity based on interaction needs, enabling both conformability during approach and structural support during grasping.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the physical state of the filler material by applying vacuum pressure. This parameter change transforms the filler from a loose, compliant state to a jammed, stiff state, allowing the robotic hand to dynamically adjust its mechanical properties to match task requirements.

Inventive Principle:

Principle #35Parameter changes

2Ease of manufacture

If rigid surfaces are used for robotic grippers, then manufacturing simplicity is maintained, but contact area with objects is reduced to point or line contact

Engineering Contradiction:

Improvemanufacturing simplicityVSAvoidcontact area with objects

Core Design Contradiction:

Ease of manufactureVSArea of stationary object

Solution Approach 1:

The robotic hand incorporates a flexible exterior membrane that can conform to object surfaces, dramatically increasing contact area from point/line contact to area contact. This flexible shell maintains manufacturing simplicity while enabling superior object interaction through increased surface conformity.

Inventive Principle:

Principle #30Flexible shells and thin films

3Adaptability or versatility

If compliant materials are used throughout the robotic hand, then conformability to objects is improved, but structural strength and load-bearing capacity deteriorate

Engineering Contradiction:

Improveconformability to objectsVSAvoidload-bearing capacity

Core Design Contradiction:

Adaptability or versatilityVSStrength

Solution Approach 1:

The robotic hand uses a composite structure combining an flexible exterior membrane, resilient spacers, and jamming particles within a vacuum chamber. This composite design integrates both compliant and stiff elements, allowing the hand to conform to objects while maintaining sufficient load-bearing capacity through the jamming mechanism.

Inventive Principle:

Principle #40Composite materials

Solution Approach 2:

The finger structure is segmented into distinct functional zones: the exterior membrane for conformability, the resilient spacers for dynamic support, and the jamming particles for rigidification. This segmentation allows each component to specialize in its function while working together to resolve the contradiction between compliance and strength.

Inventive Principle:

Principle #1Segmentation

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

Enhances the robotic end-effector's ability to grasp objects by distributing forces over an area, reducing slippage and the required grasping force, and improving the coefficient of friction, similar to human hand interaction.

Implementation Method 1

a plurality of elongate resilient spacers supported or disposed within the interior volume of the bladder... each elongate resilient spacer can comprise an elongate member having a first end and a second end

Methodology Applied

Scientific EffectElasticity: Elasticity

Implementation Method 2

The filler can comprise a plurality of jamming particles and a plurality of elongate resilient spacers... Flow characteristics of the plurality of jamming particles about the plurality of elongate resilient spacers can vary with pressure within the bladder

Methodology Applied

Scientific EffectJamming transition:

Data Source

PatentUS12172298B2Robotic end-effector having dynamic stiffening elements with resilient spacers for conforming object interaction

Publication Date: 2024.12.24 SARCOS CORP

AI summary

A robotic end-effector comprises a pair of members being movable with respect to one another and a bladder on at least one of the members. The bladder can comprise a filler within the bladder. The filler can comprise a plurality of jamming particles and a plurality of elongate resilient spacers. The jamming particles are operable to flow within the bladder and to contact and engage with the elongate resilient spacers where flow characteristics vary within the bladder. The bladder with the filler can comprise at least two configurations: a compliant configuration in which a shape of the bladder and filler are changeable, and a stiff configuration in which change in shape of the bladder and filler are resisted.