Soft Gripper with Elastic Wires for Variable Diameter Targets
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Solution Overview
Problem
Current grippers for specimen collection robots are inadequate for gripping targets of varying diameters, often causing injury or discomfort due to their hard and imprecise nature, and require complex configurations with multiple robotic arms for different types of specimens.
Innovation Solution
A soft gripper design featuring a system of elastic wires supported across multiple sections that rotate to form grip areas, allowing for precise and gentle grasping of targets by narrowing to fit various diameters, with tension sensors for force detection and control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If hard grippers (socket-type or electric plier) are used to grip targets, then gripping force is sufficient, but the gripper causes injury or discomfort to the subject and fails to grip precisely
Solution Approach 1:
The patent uses elastic wires as flexible gripping elements that can conform to the shape and diameter of the target object. These elastic wires replace rigid gripper fingers, allowing the gripper to adapt to different object geometries while distributing pressure evenly to avoid injury or discomfort during specimen collection
Solution Approach 2:
The gripper changes its gripping parameters by adjusting the rotation angle between support sections, which modifies the grip area dimensions and elastic wire tension. This allows the same gripper structure to adapt to targets of varying diameters (swabs vs. reagent tubes) while maintaining appropriate gripping force without causing harm
2Manufacturing precision
If different types of grippers are used for swabs and reagent tubes, then gripping precision is improved, but the robot system requires at least two robotic arms and complex configuration
Solution Approach 1:
The patent designs a universal gripper structure with multiple support sections and elastic wires that can grip both thin swabs and wider reagent tubes using the same mechanical components. By rotating the support sections to different angles, the single gripper adapts to different target diameters, eliminating the need for multiple specialized grippers or robotic arms
Solution Approach 2:
The gripper employs dynamic adjustment of support section rotation angles to modify the grip area for different target sizes. This dynamic reconfiguration allows one robotic arm with a single gripper to handle multiple specimen types (swabs and reagent tubes) that would otherwise require different static gripper designs
3Device complexity
If a single gripper is used for both swabs and reagent tubes, then device complexity is reduced, but the gripper must accommodate targets of various diameters
Solution Approach 1:
The gripper uses dynamic rotation of support sections relative to each other to adjust the grip area dimensions. By changing the rotation angle, the grip area expands or contracts to match the diameter of different targets (thin swabs or wider reagent tubes), enabling one gripper to handle multiple specimen types
Solution Approach 2:
The gripper is divided into multiple support sections (first, second, third support sections) that can rotate independently relative to each other. This segmentation allows each section to be positioned to create the appropriate grip area for different target diameters, providing versatility without requiring multiple complete gripper units
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 the gripper to softly and precisely grip targets of different diameters, reducing discomfort and injury, and allows for single-armed robotic systems to handle both swabs and reagent tubes, simplifying the robot system's architecture.
Implementation Method 1
a plurality of elastic wires supported across the first support section and the second support section, wherein a first grip area surrounded by the plurality of elastic wires is formed between the first support section and the second support section upon a relative rotation
Data Source
AI summary
A gripper for gripping a target has a first support section, a second support section spaced apart from the first support section in a direction of a rotation center axis, and a plurality of elastic wires supported across the first support section and the second support section. A first grip area surrounded by the plurality of elastic wires is formed between the first support section and the second support section upon a relative rotation of the first support section and the second support section around the rotation center axis, and the first grip area becomes narrower until all the plurality of elastic wires come into contact with the target by the relative rotation of the first support section and the second support section, and the plurality of elastic wires is tightened to grip the target entering the first grip area.