Soft Actuator Gripper for Adapting to Object Shapes
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Solution Overview
Problem
Existing end effectors in automated systems face challenges in handling a vast variation in object shape, size, and orientation due to limitations in adaptability and gripping efficiency, particularly in commercial warehouses where impactive and astrictive end effectors struggle with randomly oriented objects.
Innovation Solution
A soft actuator system comprising a constraining layer and a compliant air bladder assembly that deforms under air pressure to conform to objects, combined with a suction cup assembly that applies vacuum for grasping, allowing the gripper to adapt to various shapes and sizes by bending and conforming to the object's surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If impactive end effectors with jaws or claws are used to grasp objects, then gripping force is improved, but adaptability to various object shapes and sizes deteriorates
Solution Approach 1:
The patent employs a soft actuator with a compliant body that can deform and conform to objects of varying shapes and sizes. The soft actuator includes an elastomeric body with internal air chambers that allow the structure to flex and adapt its shape, enabling effective grasping of diverse objects without requiring rigid jaw structures
Solution Approach 2:
The patent utilizes changes in air pressure within internal chambers to dynamically alter the physical state and shape of the actuator. By pressurizing or depressurizing air chambers, the actuator can transition between different curvature states and gripping configurations, allowing adaptation to various object geometries while maintaining gripping force
2Reliability
If astrictive end effectors using vacuum are used to handle objects, then handling of delicate objects is improved, but effectiveness with randomly oriented objects deteriorates
Solution Approach 1:
The patent combines multiple gripping mechanisms within a single end effector system - both impactive gripping through the soft actuator's compliant structure and astrictive gripping through integrated suction cups. This multi-functional design allows the system to handle both delicate objects requiring vacuum and objects of various orientations requiring mechanical grasping
Solution Approach 2:
The soft actuator provides dynamic adaptation through its compliant structure that can change shape in response to air pressure changes. This dynamic capability allows the end effector to adjust its gripping strategy based on object orientation and characteristics, transitioning between different gripping modes as needed
3Strength
If rigid finger structures are used in end effectors, then structural strength is improved, but ability to conform to object surfaces deteriorates
Solution Approach 1:
The patent replaces rigid finger structures with a soft actuator composed of elastomeric materials that can conform to object surfaces. The compliant structure maintains sufficient strength through its material properties and internal air chamber design while achieving the necessary adaptability to wrap around and conform to various object geometries
4Adaptability or versatility
If soft compliant materials are used in actuators, then adaptability to object shapes is improved, but gripping force and structural strength deteriorates
Solution Approach 1:
The soft actuator utilizes composite construction combining elastomeric materials with internal air chambers and reinforcement structures. This composite design maintains the adaptability benefits of soft materials while compensating for strength limitations through the integrated structural elements and pressurized air chambers that provide additional gripping force
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 system enhances gripping efficiency by enabling the gripper to adapt to diverse object shapes and sizes, ensuring secure grasping and lifting, while the resilient materials allow for easy release and return to the rest position, improving handling capabilities in automated processes.
Implementation Method 1
Air bladders, upon pressurization, are configured to expand to contact a wall of the air bladder assembly
Implementation Method 2
a suction cup assembly that includes a pliable suction cup body having a distal end adapted for contacting the object
Data Source
AI summary
A soft actuator for a suction-cup end effector bends or deforms in response to air pressure within bladders in the actuator. The walls of the air bladders, upon pressurization, expand to contact adjacent structure, such as other expanding air bladders, to move a constraining layer of the actuator from a rest position toward an actuated position. A gripper for engaging items is formed by the soft actuator and a suction cup.