Soft Robotic Actuator Assembly for Adaptive High-Force Gripping
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Solution Overview
Problem
Existing robotic systems, particularly in soft robotics, lack the versatility to adapt to varying object sizes and shapes, and struggle to provide sufficient force and stability for effective grasping and manipulation, especially when compared to human-like dexterity.
Innovation Solution
The development of a hub assembly and soft robotic actuators with angular adjustment systems, reinforcement structures, force amplification mechanisms, and customizable gripping pads, allowing for dynamic adjustment of actuator angles and spacing, increased force application, and conformal gripping capabilities without the need for replacing actuators or manipulators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If soft robotic actuators are used to enable adaptive grasping, then the robot can conform to varying object sizes and shapes, but the system lacks sufficient force and stability for effective manipulation
Solution Approach 1:
The actuator is divided into multiple segments with individual articulation joints, allowing each segment to independently adapt to object contours while maintaining structural integrity for force transmission. This segmentation enables the soft robot to conform to varying shapes without sacrificing the force generation capability of each individual segment.
Solution Approach 2:
The actuator combines soft compliant materials with embedded reinforcement elements and articulation mechanisms, creating a composite structure that provides both conformability for adaptation and sufficient mechanical strength for stable grasping and manipulation forces.
2Device complexity
If fixed-configuration actuators are used, then the system structure is simple, but the system cannot adapt to different object sizes and shapes without replacing actuators
Solution Approach 1:
The actuator incorporates adjustable articulation joints that can dynamically change the angle and configuration of segments during operation, allowing the same actuator to adapt to different object sizes and shapes without physical replacement. This dynamic adjustability provides versatility while maintaining a relatively simple overall system structure.
Solution Approach 2:
The articulation joints and adjustment mechanisms are integrated within the actuator segments themselves, with components nested within each other to minimize external complexity. This nested design allows for adjustable functionality without significantly increasing the overall device complexity.
3Force
If actuators are designed for high force application, then gripping force is sufficient, but the ability to conform to object surfaces and grasp without damage is reduced
Solution Approach 1:
The actuator features locally varied properties where segment surfaces have compliant, conformable characteristics for gentle contact with objects, while internal structural elements and articulation joints provide the necessary force transmission capability. This local differentiation allows high gripping force without damaging the grasped object.
Solution Approach 2:
The actuator uses flexible outer shells and thin film structures that can conform to object surfaces, distributing applied forces over larger contact areas to prevent damage, while internal mechanisms generate and transmit the necessary gripping force through these compliant layers.
Data Source
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AI summary
Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.