Robotic Manipulator Jamming Gripper Additive Manufacturing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing robotic jamming grippers face challenges in consistently manufacturing grippers with desired gripping properties due to difficulties in measuring and controlling the shape, mechanical properties, and surface interaction of granular materials, leading to inconsistent functionality and reduced durability.
Innovation Solution
A method for manufacturing robotic manipulators using a single run additive manufacturing process, where a packing computational model determines the optimal configuration of filling elements within the gripper, including their shape, size, material, and surface roughness, to achieve desired jamming properties and consistent performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If granular material is manually added to the outer skin to create the gripper, then the gripper can be manufactured, but the manufacturing precision and consistency of jamming properties deteriorate
Solution Approach 1:
The patent replaces the manual mechanical process of adding granular material with a computational approach. A computational model predicts the jamming properties based on packing element configuration, and an additive manufacturing system automatically produces the gripper with precise control over filling element arrangement, eliminating manual intervention and achieving consistent results.
Solution Approach 2:
The patent systematically varies parameters of the packing element configuration (such as filling element size, shape, and arrangement) to optimize jamming properties. The computational model establishes relationships between these parameters and the resulting manipulator properties, enabling precise control over the gripper's performance characteristics.
2Adaptability or versatility
If irregular-shaped granular material is used to provide desired gripping functions, then the gripper functionality is improved, but the durability deteriorates due to constant rubbing against the thin flexible outer skin
Solution Approach 1:
The patent applies different properties to different parts of the filling elements. By controlling the surface roughness and geometry of individual packing elements, the design optimizes local contact characteristics to maintain gripping function while reducing wear on the outer skin. The computational model allows optimization of specific local features of the filling elements.
Solution Approach 2:
The patent creates a composite structure combining the flexible outer skin with specifically designed filling elements. The filling elements are designed with optimized surface properties and geometries that work synergistically with the outer skin material, creating a durable composite gripper system that maintains both functionality and longevity.
3Force
If the number of filling elements is increased to improve jamming force, then the gripping capability is improved, but the manufacturing complexity increases
Solution Approach 1:
The computational model automatically determines the optimal packing element configuration based on desired jamming properties. The system self-calculates the number, size, and arrangement of filling elements needed to achieve target performance, eliminating the need for manual trial-and-error assembly and reducing manufacturing complexity.
Solution Approach 2:
The patent performs preliminary computational design and simulation to determine the optimal filling element configuration before actual manufacturing. The computational model predicts the jamming properties for different configurations, allowing the manufacturing process to proceed directly with the optimized design, reducing iterative adjustments and complexity.
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 approach enables the precise manufacturing of robotic manipulators with consistent and optimal jamming properties, improving durability and reducing manufacturing costs and time, while allowing for easy replacement or repair of components.
Implementation Method 1
robotic jamming grippers are provided for lifting arbitrarily-shaped objects... a mass of granular material, such as coffee grounds or beads, dispersed inside the chamber... The shapes, mechanical properties and surface interaction properties of the granular material are important to the gripping function
Implementation Method 2
The robotic jamming gripper typically has a chamber connected to a vacuum pump... Using a combination of positive and negative pressure, the gripper can rapidly grip and release a wide range of objects... vacuum-hardens to grip it rigidly
Implementation Method 3
a passive universal gripper including a mass of granular material encased in an elastic membrane... the gripper passively conforms to the shape of a target object, then vacuum-hardens to grip it rigidly
Data Source
AI summary
A method of manufacturing a robotic manipulator including determining desired manipulator properties including a manipulator shape and manipulator jamming properties; using the manipulator jamming properties and a packing computational model to determine a packing element configuration, the packing computational model defining relationships between manipulator jamming properties and different packing element configurations; controlling an additive printing machine based on the packing element configuration and manipulator shape to manufacture the robot manipulator. The robot manipulator includes a flexible outer skin defining a chamber; a connector attached to the outer skin and connected to a fluid pump to allow fluid to be added to or removed from the chamber; filling elements disposed in the chamber according to the packing element configuration.