Soft Pneumatic Gripper Layout for Variable-Shape Object Grasping
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Solution Overview
Problem
Conventional grasping devices using fluid pressure actuators that curve during contraction often struggle to securely grasp objects of varying sizes, shapes, or natures.
Innovation Solution
The grasping device employs a plurality of fluid pressure actuators that are offset and intersecting on their proximal end portions, allowing their tip portions to approach each other when contracted, thereby enhancing the device's ability to grasp objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single fluid pressure actuator is used, then the structure is simple, but the grasping capability is limited and cannot adapt to objects of varying sizes and shapes
Solution Approach 1:
The grasping device divides the actuation system into multiple independent fluid pressure actuators instead of using a single actuator. Each actuator can independently curve and contact the object, allowing the system to adapt to various object sizes and shapes while maintaining manageable complexity through modular configuration
Solution Approach 2:
The actuators are arranged in a three-dimensional space with offset positions and different orientation directions. This spatial distribution allows the actuators to approach the object from multiple directions and angles, significantly enhancing grasping versatility while the offset arrangement prevents excessive structural complexity
2Ease of operation
If fluid pressure actuators are arranged in a straight line, then the structure is simple, but the tip portions cannot approach each other effectively during contraction
Solution Approach 1:
The actuators are positioned asymmetrically with offset arrangements rather than in a symmetric straight line configuration. This asymmetric positioning allows the tip portions to approach each other more effectively during contraction, improving grasping effectiveness while the systematic offset pattern keeps the arrangement manageable
Solution Approach 2:
The actuators are designed to curve during contraction, transforming from straight cylindrical shapes into curved configurations. This curvature enables the tip portions to approach each other effectively, enhancing grasping capability while the natural curving behavior maintains operational simplicity
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
This configuration enables the grasping device to securely grasp objects in a wider range, regardless of their size, shape, or nature, ensuring reliable object handling.
Implementation Method 1
a rubber tube that expands and contracts by air pressure
Data Source
AI summary
The fluid pressure actuator of the grasping device 1 is a flexible soft actuator. The fluid pressure actuator is provided offset so as to intersect at least any other fluid pressure actuator on a proximal end portion side of the fluid pressure actuator. A tip portion of one of the fluid pressure actuator approaches a tip portion of the other fluid pressure actuators intersecting on the proximal end portion side when each of the fluid pressure actuators contracts.