Shape-Shifting Gripper Fingers for Object Reorientation
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Solution Overview
Problem
Conventional grippers in industrial settings are inflexible and require complex, costly part feeders and fixtures to handle and reorient objects, limiting their dexterity and increasing setup and reconfiguration costs.
Innovation Solution
The development of shape-shifting gripper fingers with flexible membranes that change geometry between extended and retracted states in response to pressure, allowing for reorientation of objects without the need for complex fixtures, by providing low torsional friction for pivoting and secure grasping through adjustable contact areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If conventional parallel-jaw grippers are used, then simplicity and robustness are improved, but dexterity of part handling deteriorates
Solution Approach 1:
The gripper fingers incorporate flexible membranes that can dynamically change their geometry between extended and retracted states in response to applied pressure. This dynamic shape-changing capability allows the same gripper structure to adapt to different part geometries and manipulation requirements, resolving the contradiction between structural simplicity and handling dexterity
Solution Approach 2:
The flexible membranes change their physical state (extended/retracted) based on pressure parameters, enabling the gripper to modify its contact characteristics and geometry. This parameter-based transformation allows a single gripper design to handle multiple part types and orientations without compromising structural simplicity
2Adaptability or versatility
If part feeders and fixtures are used to reorient parts, then manipulation capability is improved, but device complexity and cost increase
Solution Approach 1:
The flexible membrane fingers serve multiple functions: they can grasp parts in various orientations, reorient parts during manipulation, and adapt to different part geometries. This multi-functionality eliminates the need for separate part feeders and fixtures, reducing overall system complexity while maintaining versatile manipulation capability
Solution Approach 2:
The gripper fingers autonomously reorient parts through their own shape-changing capability rather than relying on external fixtures. The flexible membranes self-adjust to facilitate part reorientation, making the system self-sufficient and eliminating complex external reconfiguration equipment
3Adaptability or versatility
If flexible membranes are used for shape-shifting, then adaptability and dexterity are improved, but device complexity increases
Solution Approach 1:
The flexible membranes are actuated using pneumatic pressure applied to cavities within the finger structures. This pneumatic actuation mechanism provides a simple and effective way to control the membrane deformation between extended and retracted states, achieving shape adaptability without complex mechanical linkages or actuators
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 efficient manipulation and reorientation of objects between different orientations, reducing the need for custom fixtures and part feeders, enhancing dexterity and reducing setup costs and time, while accommodating objects of varying sizes and weights.
Implementation Method 1
a flexible membrane that forms at least a portion of a cavity, where the flexible membrane is moveable between an extended state and a retracted state in response to a pressure applied to the cavity
Data Source
AI summary
Shape-shifting fingers may enable parallel-jaw gripper to re-grasp objects. In some embodiments, a gripper includes two fingers each having a flexible membrane which is moveable between an extended state and a retracted state in response to pressure applied to a cavity at least partially formed by the membrane. In the extended and retracted state the shape of the flexible membrane may change based on the pressure and/or a force applied to the membrane and may attain two distinct geometric forms to facilitate distinct manipulation functionalities. In some embodiments, the flexible membrane switches between a wedge-shaped geometry in the extended state and a V-shaped geometry in the retracted state. The wedge-shaped geometry may provide a point contact on a cylindrical object so that the object may pivot to a vertical position under the effect of gravity. The V-shaped geometry may localize the object in a vertical position and securely hold it.