Soft Gripper Using Granular Jamming for Shape Adaptation
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Solution Overview
Problem
Conventional collaborative robots equipped with motor-driven grippers face challenges in stably gripping objects of various shapes and materials, requiring complex structures and controllers, and are inefficient for handling atypical or flexible objects.
Innovation Solution
A soft grip unit comprising a flexible cover, particles, a negative pressure generator, and a flexible supporting part, which transforms to grip objects by contracting around them, allowing for stable and continuous gripping without damaging fragile objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a motor driven gripper with actuators and rotating links is used to grip objects, then the gripping function is achieved, but the structure becomes complicated and control system complexity increases
Solution Approach 1:
The patent replaces the conventional motor-driven mechanical gripper system with a soft robotic gripper that uses pneumatic or hydraulic actuation. The rigid mechanical structure with actuators and rotating links is substituted by flexible soft materials that deform under pressure to achieve gripping, thereby simplifying the overall mechanical structure while maintaining reliable gripping function
Solution Approach 2:
The patent employs flexible cover members made of soft materials that can deform and adapt to the shape of objects being gripped. These flexible shells replace rigid mechanical components, allowing the gripper to handle various object shapes without complex mechanical adjustments, thus reducing structural complexity while ensuring stable gripping
2Reliability
If conventional grippers are designed for predetermined object shapes, then gripping function is achieved, but adaptability to various shapes and materials is reduced
Solution Approach 1:
The patent implements a dynamic gripping system where the soft gripper components can continuously change their shape and stiffness in response to the object being gripped. The flexible materials allow the gripper to adapt its configuration dynamically, enabling it to handle various object shapes and materials with a single universal design, thereby improving both adaptability and gripping stability
Solution Approach 2:
The patent designs a universal soft gripper that can handle multiple types of objects with different shapes, sizes, and materials using the same structure. The flexible and deformable nature of the gripper components allows it to perform multiple gripping functions without requiring reconfiguration, thus achieving versatility while maintaining reliable gripping across different object types
3Reliability
If high gripping force is applied to secure the object, then gripping stability is improved, but damage to fragile objects occurs
Solution Approach 1:
The patent uses flexible cover members made of compliant materials that can deform under pressure, allowing the gripper to apply gripping force in a distributed and controlled manner. This flexibility enables the gripper to securely hold objects without concentrating force at specific points, thereby preventing damage to fragile objects while maintaining gripping stability
Solution Approach 2:
The patent employs materials and structures that can change their mechanical properties such as stiffness and elasticity in response to applied pressure or environmental conditions. This parameter change capability allows the gripper to automatically adjust its gripping characteristics, applying sufficient force for stable gripping while remaining soft enough to prevent damage to delicate objects
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 soft grip unit enables efficient and stable gripping of objects with varying shapes and materials using reduced force, preventing damage and maintaining grip even with flexible or atypical objects, while allowing for automatic positioning and increased suction efficiency.
Implementation Method 1
The negative pressure generator absorbs an air of the receiving space to contract the flexible cover so that the particle transformed corresponding to the shape of the target object is pressurized
Implementation Method 2
The flexible cover has a gripping surface on which a target object is attached and a reference surface coupled with the gripping surface, to form a receiving space inside of the flexible cover
Data Source
AI summary
In a soft grip unit, a grip device having the soft grip unit, and a driving method of the grip device, the soft grip unit includes a flexible cover, a particle, a negative pressure generator and a flexible supporting part. The flexible cover has a gripping surface on which a target object is attached and a reference surface coupled with the gripping surface. The particle is received by the receiving space, and transformed corresponding to a shape of the target object. The negative pressure generator is connected to the flexible cover. The negative pressure generator absorbs an air of the receiving space to contract the flexible cover. The flexible supporting part is tightly attached to the reference surface, and transformed at the same time when the flexible cover is pressurized and transformed by the target object.