Robotic Gripper Digits Fluid Pressure Actuation

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Solution Overview

Problem

Robotic grasping systems face challenges in handling diverse items due to the limitations of rigid and durable fingers, which can damage delicate objects, and the complexity of control systems that lead to delays and increased costs when multiple types of manipulators are required for different items.

Innovation Solution

The use of an actuating system that employs fluid pressure changes to control fingers, allowing for adaptable grasping and a skin replacement system with flexible, replaceable skins to handle delicate items, along with automated detection and replacement, reduces the need for multiple manipulator types and simplifies control processes.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Strength

If robotic manipulator fingers are constructed of rigid and durable material, then durability is improved, but the ability to handle delicate objects without damage deteriorates

Engineering Contradiction:

Improvefinger durabilityVSAvoiddamage to delicate objects

Core Design Contradiction:

StrengthVSObject-affected harmful factors

Solution Approach 1:

The finger material transitions from static rigid to dynamic flexible state during operation. The flexible material allows the finger to adapt its stiffness based on the object being grasped, enabling both delicate object handling and durable operation through material elasticity and deformation capability.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The invention changes the material parameter from rigid to flexible, fundamentally altering the mechanical properties of the finger. This parameter change enables the finger to conform to delicate objects while maintaining structural integrity, resolving the contradiction between durability and gentleness.

Inventive Principle:

Principle #35Parameter changes

2Adaptability or versatility

If multiple types of manipulators are provided for different items, then adaptability is improved, but system complexity and cost increase

Engineering Contradiction:

Improveability to handle different itemsVSAvoidnumber of manipulator types

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

A single manipulator design with flexible fingers can handle multiple types of objects including delicate items, replacing the need for multiple specialized manipulators. The flexible material provides universal adaptability across different object types while maintaining a simple, unified system architecture.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The finger is segmented into a durable core structure and a replaceable flexible skin layer. This segmentation allows the manipulator to maintain structural integrity while providing adaptable surface properties for different objects, achieving versatility without requiring multiple complete manipulator systems.

Inventive Principle:

Principle #1Segmentation

3Manufacturing precision

If control systems for robotic manipulators are made complex to synchronize fingers, then grasping precision is improved, but processing delays and failure modes increase

Engineering Contradiction:

Improvegrasping synchronizationVSAvoidcontrol processing delay

Core Design Contradiction:

Manufacturing precisionVSLoss of time

Solution Approach 1:

The flexible finger material provides passive compliance and automatic adaptation to objects without requiring complex active control. The material's inherent elastic properties enable self-synchronization during grasping, reducing the computational burden and processing delays associated with complex control algorithms.

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The flexible skin acts as an intermediary between the rigid finger structure and the object being grasped. This intermediary layer absorbs control imperfections and provides smooth, compliant contact, reducing the precision requirements for the control system while maintaining grasping effectiveness.

Inventive Principle:

Principle #24Intermediary (Mediator)

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

This solution enables robotic manipulators to efficiently grasp various items, including delicate ones, with reduced complexity and cost, by using fluid pressure actuation and replaceable skins, improving handling capabilities and extending the lifespan of the robotic fingers.

Implementation Method 1

actuating system that employs fluid pressure changes to control fingers

Methodology Applied

Scientific EffectFluid pressure: Pressure Increase

Data Source

PatentUS9975256B1Robotic gripper with digits controlled by shared fluid volume

Publication Date: 2018.05.22 AMAZON TECH INC

AI summary

A robotic manipulator can include fingers with rigid members. The fingers may be movable by actuators that are responsive to fluid pressure. A piston may be movable in a chamber to communicate fluid pressure changes from the chamber. The chamber may be fluidly coupled with the actuators so that movement of the piston communicates fluid pressure changes that actuate multiple fingers.