Three-Finger Robotic Gripper for Fixtureless Part Handling
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional robotic grippers are limited to specific products or product lines, require multiple points of contact, and can inadvertently damage parts due to uneven weight distributions, leading to inefficiency and high retooling costs when product changes occur.
Innovation Solution
A robotic gripper with three concentric gripper fingers that translate radially to engage a gripper interface on a part, using elongated and hook portions to securely grasp both inner and outer surfaces, allowing for fixtureless assembly and independent finger positioning to optimize grip based on part geometry.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional fixtures are used to handle heavy equipment or bulky parts, then the parts can be manipulated and processed, but the fixtures are limited to specific products and require expensive capital investment to retool when products change
Solution Approach 1:
The robotic gripper is designed with a universal interface that can accommodate multiple part geometries and product types. The gripper interface includes standardized features (protrusions and receptacles) that work across different part designs, eliminating the need for product-specific fixtures and enabling one gripper to handle diverse parts through software reconfiguration rather than physical retooling
2Reliability
If multiple points of contact are used to move heavy parts with uneven weight distributions, then the parts can be stabilized, but additional grip points are required on the part
Solution Approach 1:
The gripper is divided into multiple independent fingers (typically three) that can be positioned and actuated independently. Each finger can contact different locations on the part, allowing the system to adapt to uneven weight distributions and stabilize parts without requiring a completely redesigned multi-point contact mechanism for each part geometry
3Ease of operation
If conventional grip mechanisms contact the part surface, then the parts can be held, but the parts may be inadvertently damaged if the part unintentionally moves or slips
Solution Approach 1:
The gripper fingers are designed to engage with predetermined interface features (protrusions and receptacles) that are intentionally built into the part. This preliminary design of the interface ensures that the grip points are located at structurally sound locations on the part, preventing damage even if the part moves or slips during handling, as the forces are applied at designed contact points rather than arbitrary surface locations
Data Source
Figure 1
Figure 2A~2C
Figure 3
AI summary
Various aspects of robotic grippers are disclosed herein. In one aspect, a robotic gripper may include three gripper fingers arranged on a mechanical end effector, the three gripper fingers configured to translate radially when actuated to contact and align with a gripper interface located on a part to enable manipulation of the part. In various embodiments, each gripper finger may include an elongated portion configured to contact an outer surface of the gripper interface when the gripper fingers are actuated. Each gripper finger may further include a hook portion configured to contact an inner surface of the gripper interface opposing the outer surface. In various embodiments, the hook portion may include a receptacle positioned to align with a complementary protrusion on the gripper interface.