Soft Gripper Electro-Hydraulic Actuator Precision Drug Sorting
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Solution Overview
Problem
Existing robotic grippers are not designed for fine gripping actions on smaller objects with diverse sizes, shapes, and textures, such as drugs like pills, capsules, and soft gels, which are needed for efficient drug manipulation and dispensing, especially for the elderly.
Innovation Solution
A robotic end effector comprising a soft gripper with an electro-hydraulic actuator assembly, where the gripper body and fingers define a working space with a chamber in liquid communication, allowing precise control of finger gap through variable liquid pressure, enabling precise opening and closing movements without damaging fragile objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional robotic grippers are used, then general object grasping is achieved, but fine gripping action on smaller objects with diverse sizes, shapes, and textures cannot be performed
Solution Approach 1:
The gripper employs soft fingers made of elastomeric material that can dynamically adapt their shape and compliance to match the geometry and texture of diverse small objects. This dynamic flexibility enables the same gripper structure to effectively grasp objects ranging from pills to capsules to soft gels, resolving the contradiction between versatility and precision.
Solution Approach 2:
The electro-hydraulic actuator system enables continuous adjustment of gripping force parameters and finger positioning. By precisely controlling liquid pressure in the actuator chamber, the system can modulate the gripping force to match the fragility and size of different objects, achieving both adaptability across object types and precision for each specific object.
2Measurement precision
If soft gripper with electro-hydraulic actuator is used, then precise gripping control is achieved, but device complexity increases
Solution Approach 1:
The electro-hydraulic actuator integrates the electric motor and hydraulic chamber into a single compact unit mounted directly on the gripper body. This merging of components eliminates the need for separate external hydraulic pumps and complex piping, reducing overall system complexity while maintaining precise gripping control through the integrated actuator.
Solution Approach 2:
The actuator chamber uses the incompressibility of liquid to automatically transmit force from the motor to the fingers without requiring external hydraulic infrastructure. The system serves itself by containing the hydraulic fluid and pressure regulation within the gripper assembly, simplifying the overall device architecture while preserving precision control capabilities.
3Device complexity
If integrated electro-hydraulic actuator is used, then no additional pumps are required, but manufacturing complexity increases
Solution Approach 1:
The gripper body and fingers are constructed from elastomeric material that can be molded as integrated flexible components. This allows the complex curved geometries of the soft fingers and actuator housing to be manufactured in a single molding process, easing the manufacturing of what would otherwise be a complex assembly of rigid parts with precise fits.
Solution Approach 2:
The combination of elastomeric soft material for the fingers and rigid material for the actuator housing creates a composite structure that leverages the advantages of both materials. The elastomeric portion provides compliance and shock absorption, while the rigid portion provides structural support for the motor and chamber, simplifying the overall manufacturing by allowing each material to be optimized for its specific function.
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 solution provides precise and powerful gripping capabilities for small objects, reducing the risk of damage and requiring no additional air or hydraulic pumps, making it suitable for tasks like drug sorting and dispensation with high precision and accuracy.
Implementation Method 1
The chamber variable volume is in liquid communication with the gripper cavity to form a closed space filled with a liquid, such that when in operation, the shape of the gripper cavity can be changed in response to a liquid pressure under control of the chamber variable volume by the electro-hydraulic actuator assembly
Implementation Method 2
an actuator that is operatively driven by an electric motor
Data Source
AI summary
One example embodiment is a robotic end effector, comprising: (a) a soft gripper and (b) an electro-hydraulic actuator assembly. The soft gripper comprises: a gripper body comprising a finger connecting portion; and at least two fingers connected to the finger connecting portion. The gripper body further comprises a gripper cavity therein. The finger connecting portion and the at least two fingers define a working space therewithin, the working space comprises an opening between proximal ends of the at least two fingers. Each of the at least two fingers further comprises a finger barb substantially extending into the opening to partially close up the opening. The electro-hydraulic actuator assembly comprises: an actuator that is operatively driven by an electric motor; and a chamber that comprises a chamber variable volume controlled by the actuator. The chamber variable volume is in liquid communication with the gripper cavity to form a closed space filled with a liquid. Other example embodiments are described herein. In certain embodiments, the provided soft grippers and robotic end effectors are compact, powerful and is highly suitable for tasks that require fine gripping motion of small objects with diverse range of sizes, shapes, and textures with high precision, such as drug sorting and dispensation.