Soft Robotic Actuator Rigidizing Layer for Stronger Adaptive Grasping

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Solution Overview

Problem

Existing robotic systems lack versatility in handling objects of varying sizes and shapes due to limitations in interfacing hard and soft robotics, leading to inefficiencies in grasping and manipulation tasks.

Innovation Solution

The development of a hub and grasper assembly that allows for angular adjustment of soft robotic actuators, reinforcement structures to prevent premature failure, and force amplification structures to increase grip force, along with customizable gripping pads for improved surface contact.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If a fixed robotic manipulator configuration is used, then the structure is simple and easy to manufacture, but the system lacks versatility in handling objects of varying sizes and shapes

Engineering Contradiction:

Improveversatility in handling objectsVSAvoidmanipulator configuration complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The patent implements angular adjustment mechanisms that allow the robotic manipulator to dynamically change its configuration. The manipulator can be adjusted to different angles and positions to adapt to objects of varying sizes and shapes, transforming a static system into a dynamic one that can reconfigure itself for different tasks.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The robotic manipulator is designed with universal adjustment capabilities that enable it to perform multiple grasping and manipulation tasks. By incorporating adjustable angular positions and interchangeable gripping interfaces, the system can handle diverse objects with a single manipulator design, reducing the need for multiple specialized configurations.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Reliability

If reinforcement structures are added to prevent premature actuator failure, then the reliability is improved, but the device complexity increases

Engineering Contradiction:

Improveactuator durabilityVSAvoidactuator structure complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The actuator incorporates composite construction combining soft elastomeric materials with embedded reinforcement elements. The reinforcement structures are integrated within the soft actuator body, creating a composite material system that provides both flexibility and structural strength to prevent premature failure while maintaining the soft robotic characteristics.

Inventive Principle:

Principle #40Composite materials

Solution Approach 2:

The reinforcement structures are pre-installed within the actuator during manufacturing to prevent premature failure before it occurs. These reinforcement elements are positioned in advance to strengthen critical areas that are prone to stress and failure, providing proactive protection rather than reactive repair.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

3Force

If force amplification structures are implemented, then the grip force is increased, but the device complexity increases

Engineering Contradiction:

Improvegrip forceVSAvoidactuator structure complexity

Core Design Contradiction:

ForceVSDevice complexity

Solution Approach 1:

Force amplification structures serve as intermediary elements between the actuator and the object being grasped. These structures transmit and amplify the force generated by the actuator, providing enhanced grip force without requiring a complete redesign of the actuator system. The intermediary structures act as force multipliers in the transmission path.

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The force amplification structures incorporate curved or spheroidal geometries that leverage mechanical advantage through shape. The curved profiles are designed to concentrate and amplify forces applied by the actuator, transforming the force distribution to achieve higher grip forces at the contact point with the object.

Inventive Principle:

Principle #14Spheroidality (Curvature)

4Adaptability or versatility

If customizable gripping pads are added for improved surface contact, then the adaptability is improved, but the ease of manufacture decreases

Engineering Contradiction:

Improvesurface contact adaptabilityVSAvoidmanufacturing complexity

Core Design Contradiction:

Adaptability or versatilityVSEase of manufacture

Solution Approach 1:

The gripping interface is segmented into interchangeable pads or modules that can be customized for different surface contact requirements. Each pad can be designed with specific materials, textures, or geometries suitable for different object types, and can be independently manufactured and attached to the manipulator, simplifying the overall manufacturing process while maintaining adaptability.

Inventive Principle:

Principle #1Segmentation

Data Source

PatentEP4148272A1Soft robotic actuator enhancements

Publication Date: 2023.03.15 SCHMALZ FLEXIBLE GRIPPING INC

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Figure 3A~3B

AI summary

An apparatus comprising: a soft robotic actuator (30), the soft robotic actuator (30) comprising a strain limiting layer and a hollow body including an elastomeric material, the hollow body configured to accept an inflation fluid, the soft robotic actuator (30) having a neutral axis of bending; and a rigidizing layer provided adjacent to the strain limiting layer or integral with the strain limiting layer, the rigidizing layer comprising one or more rigid components oriented perpendicular to the neutral axis of bending.