Robotic Gripper Rotatable Contacts for Dexterous Part Handling
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Solution Overview
Problem
Conventional robotic grippers lack the ability to dexterously manipulate objects without manual parameter tuning, particularly in handling cylindrical and prismatic objects, as they often require user-input adjustments for different articles, limiting their versatility in industrial applications.
Innovation Solution
A robotic gripper with rotatable contacts and a brake mechanism that allows independent control of gripping and braking forces, enabling transition between rotation and fixed orientation modes, facilitating dexterous manipulation of various objects without recalibration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If conventional parallel-jaw grippers are used for simplicity and robustness, then device complexity is reduced, but dexterity of part handling deteriorates
Solution Approach 1:
The gripper employs rotatable contacts that can dynamically change orientation during manipulation tasks. The contacts are capable of rotating about an axis to adapt their orientation for different object geometries and manipulation requirements, transitioning from a fixed parallel-jaw configuration to a dynamic, adaptable structure that maintains simplicity while enabling dexterous handling
Solution Approach 2:
The system changes the orientation parameter of the contact surfaces during operation. By rotating the contacts to different angles, the gripper can present optimally oriented contact surfaces for grasping, holding, and manipulating various object shapes, thereby achieving adaptability without complex reconfiguration
2Adaptability or versatility
If manual parameter tuning is required for different articles, then adaptability to various objects is improved, but ease of operation deteriorates
Solution Approach 1:
The gripper system performs self-adjustment through automated control of the rotatable contacts. The orientation of the contacts is controlled by a controller that automatically adjusts them for different objects and tasks, eliminating the need for manual parameter tuning by the user while maintaining high adaptability to various articles
3Adaptability or versatility
If rotatable contacts with brake mechanism are implemented, then dexterity of manipulation is improved, but device complexity increases
Solution Approach 1:
The gripper is divided into modular components: gripper fingers with rotatable contacts, independent brake mechanisms for each contact, and a control system. This segmentation allows the complex functionality to be achieved through coordinated simple modules, where each contact can be independently controlled and braked, managing overall system complexity
4Measurement precision
If braking force is independent of gripping force, then precision of orientation control is improved, but device complexity increases
Solution Approach 1:
The force control system is segmented into independent braking and gripping control channels. The brake mechanisms are separately controlled from the gripping force actuation, allowing independent adjustment of braking force to achieve precise orientation control without being coupled to the gripping force magnitude, while maintaining manageable system complexity through this independence
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
Enables seamless handling and reorientation of diverse objects by allowing independent control of braking and gripping forces, enhancing the gripper's versatility and efficiency in industrial tasks such as lifting, rotating, and placing objects without manual parameter adjustments.
Implementation Method 1
a brake configured to selectively maintain a fixed orientation of the rotatable contact relative to the body portion when engaged
Data Source
AI summary
A robotic gripper may be configured to dexterously manipulate an article. The robotic gripper may include two or more fingers containing one or more rotatable contacts each. The rotatable contact may transition between a rotation mode and a braking mode such that the contacts are free to rotate in the rotation mode and are prevented from being rotated in the braking mode. In some instances, the robotic gripper may make contact with the article via the contact pads. Thus, the robotic gripper may dexterously manipulate the article via the contact pads and brake.