Shape Compliant Electroadhesive Gripper with Variable Rigidity
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Solution Overview
Problem
Conventional grippers, including mechanical, vacuum, and electroadhesive grippers, are ineffective in picking up atypical objects of various shapes, sizes, and materials due to limitations in applying appropriate pressure and voltage, making it difficult to handle objects efficiently in logistics and automation.
Innovation Solution
A shape compliant electroadhesive gripper is developed, combining a shape compliant module with variably controllable rigidity, such as magnetorheological or electrorheological elastomers, and an electroadhesive module with an insulator and conductor, allowing for adjustable electrostatic force to effectively grasp and hold objects of diverse shapes and materials.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a conventional electroadhesive gripper uses a large contact area and large voltage to pick up heavy objects, then the gripping force is sufficient, but the device complexity and energy consumption increase
Solution Approach 1:
The patent employs a shape compliant module with variably controllable rigidity that can dynamically adjust its mechanical properties. When rigidity is increased, the module maintains a fixed shape for stable electroadhesive contact; when rigidity is decreased, it adapts to conform to objects of various shapes and sizes. This dynamic adjustment allows the gripper to achieve sufficient gripping force without requiring a large contact area or high voltage for all objects.
Solution Approach 2:
The patent changes the rigidity parameter of the shape compliant module to optimize gripper performance. By controlling the rigidity of the shape compliant module, the system can adapt to different object characteristics and achieve effective gripping with reduced voltage and contact area requirements compared to conventional fixed-rigidity grippers.
2Force
If a mechanical gripper applies high pressure to pick up heavy objects, then the gripping force is sufficient, but the objects may be damaged and the adaptability to various shapes is reduced
Solution Approach 1:
The shape compliant module can dynamically adjust its rigidity based on the object being gripped. When rigidity is decreased, the module becomes more compliant and can adapt to various object shapes and sizes without applying excessive localized pressure that could cause damage. When rigidity is increased, it provides stable support for the object. This dynamic adaptation resolves the contradiction between providing sufficient gripping force and maintaining versatility across different object types.
3Device complexity
If a vacuum gripper is used to pick up objects, then the mechanism is simple, but it cannot effectively handle objects of various shapes and sizes without damage
Solution Approach 1:
The patent combines the electroadhesive module with a shape compliant module made of special materials (such as magnetorheological elastomer or electrorheological elastomer) that can change their mechanical properties. This composite structure maintains the simplicity of the vacuum gripper mechanism while adding the ability to adapt to various object shapes and sizes through material property changes, avoiding object damage.
4Stability of the object's composition
If the shape compliant module has high rigidity to maintain shape, then the structure is stable, but it cannot adapt to conform to external objects
Solution Approach 1:
The shape compliant module's rigidity is made dynamically controllable, allowing it to switch between high rigidity (for shape stability) and low rigidity (for shape adaptability) based on operational requirements. This resolves the contradiction by making rigidity a variable parameter rather than a fixed property.
Solution Approach 2:
The system periodically or sequentially adjusts the rigidity of the shape compliant module during the gripping operation - first reducing rigidity to adapt to the object shape, then increasing rigidity to maintain stable contact for electroadhesive force application. This periodic adjustment between compliant and rigid states resolves the contradiction between adaptability and stability.
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 gripper efficiently picks up and transfers objects of various shapes and sizes by combining mechanical gripping force with electroadhesive force, maintaining contact and supporting heavy objects with a simplified structure, and enhancing removal speed through controlled rigidity and electrostatic adhesion.
Implementation Method 1
the shape compliant module may include a magnetorheological elastomer, and when a magnetic field is not applied, a shape of the shape compliant module may be changed according to a shape of an external object which is brought into contact with the shape compliant module, and when the magnetic field is applied, rigidity of the magnetorheological elastomer may be increased to maintain the shape of the shape compliant module
Implementation Method 2
the shape compliant module may include an electrorheological elastomer, and when an electric field is not applied, a shape of the shape compliant module may be changed according to a shape of an external object which is brought into contact with the shape compliant module, and when the electric field is applied, rigidity of the electrorheological elastomer may be increased to maintain the shape of the shape compliant module
Implementation Method 3
the electroadhesive module may be include an insulator and a conductor disposed on the insulator and may be able to be brought into contact with an external object by an electrostatic force generated when a voltage is applied to the conductor
Data Source
AI summary
A present disclosure relates to a shape compliant electroadhesive gripper for picking up atypical objects having various shapes, sizes, and materials, and a shape compliant electroadhesive gripper according to one embodiment of the present disclosure includes a body, a shape compliant module disposed on the body, rigidity of the shape compliant modules being variably controllable, and an electroadhesive module disposed on the shape compliant module.