Soft Robotic End-of-Arm Tool With Adjustable Linkages for Adaptive Grasping
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Solution Overview
Problem
Conventional robotic systems face difficulties in navigating confined spaces and grasping items of varying sizes and shapes due to bulky components and uncertainty in object weight, size, and shape, leading to inefficiencies in warehouse automation.
Innovation Solution
A soft robotic grasping system with adjustable linkages and pivots connected by linear actuators, featuring a gripper hub and soft robotic fingers with an elastomeric outer surface that can curl upon pressure change, allowing for adaptive grasping and navigation in tight spaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Length of moving object
If conventional robotic arms with bulky components are used, then they can provide sufficient structural strength and stability, but they cannot navigate confined spaces and tight storage areas
Solution Approach 1:
The patent employs soft robotic fingers made of elastomeric materials with internal voids that can be inflated or deflated. These flexible structures replace traditional rigid robotic components, enabling the gripper to navigate confined spaces while maintaining sufficient grasping strength through pneumatic actuation. The soft fingers can conform to various object shapes and apply controlled forces without the bulk of conventional mechanical structures.
2Adaptability or versatility
If rigid gripper structures are used, then they can provide precise positioning and stable grasping, but they cannot adapt to items of varying sizes, shapes, and weights
Solution Approach 1:
The patent utilizes dynamically adjustable soft robotic fingers that can change their shape and stiffness through pneumatic pressure control. The internal voids of the elastomeric fingers can be inflated to different degrees, allowing the gripper to adapt its configuration for objects of varying sizes and shapes while maintaining precise grasping control. This dynamic adjustment capability enables a single gripper design to handle diverse items without sacrificing positioning accuracy.
3Force
If conventional robotic systems are used, then they can handle heavy items with sufficient force, but they risk damaging delicate surfaces and cannot perform gentle grasping
Solution Approach 1:
The patent employs pneumatic pressure as a controllable parameter to adjust the stiffness and force output of the soft robotic fingers. By varying the internal pressure of the elastomeric fingers, the system can transition from gentle grasping for delicate items to stronger forces for heavier objects. The soft material inherently distributes force over larger contact areas, reducing pressure concentrations that could damage surfaces, while still providing sufficient total grasping force.
4Ease of operation
If fixed-configuration grippers are used, then they can maintain stable structure, but they cannot optimize their configuration for different grasping scenarios and cluttered environments
Solution Approach 1:
The patent designs a universal soft robotic gripper that can perform multiple functions through pneumatic control. The same elastomeric finger structure can be inflated to different degrees and configured in various shapes depending on the object being grasped. This multi-functionality allows the gripper to operate effectively in cluttered environments and with diverse items while maintaining structural integrity through the cohesive elastomeric material and controlled pneumatic pressure.
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 enables efficient and gentle grasping of diverse objects without damaging them, adapting to changing shapes and sizes, and can operate in cluttered environments with reduced risk of marking surfaces, improving automation in warehouses.
Implementation Method 1
A linear actuator disposed between the pivot point and the proximal end of the soft robotic finger may move in the lateral direction under the control of a controller
Implementation Method 2
The soft robotic finger may include an elastomeric outer surface surrounding an internal void, and may be configured to curl when a pressure change occurs within the internal void
Data Source
Figure 1A~1B
Figure 1C~1D
Figure 1E
AI summary
Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be connected to a hub through one or more sets of pivots attached to linkages that allow the distances between the pivots to be varied. Compared to conventional EOATs, exemplary embodiments increase the range of motion of the actuators, improve grip posture, boost gripping force, and balance the loads on the actuators.