Soft Gripper With Phase Change Material For Delicate Object Handling
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Solution Overview
Problem
Existing gripper devices for robotic arms are prone to causing damage when contacting delicate surfaces and are limited in their ability to operate in confined spaces due to rigid components, making them unsuitable for accessing and removing debris in tight areas like pipelines and gas turbine engines.
Innovation Solution
A soft gripper mechanism featuring a flexible surface membrane connected to a resiliently deformable neck portion filled with a phase change material and air tubes, allowing inflation or vacuum creation to expand the membrane and securely grip objects, with the option to transition the phase change material from liquid to solid for enhanced gripping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a rigid base body portion is used to connect the deformable head to the arm, then structural support is provided, but damage to delicate surfaces occurs when contact is made
Solution Approach 1:
The patent replaces the rigid base body portion with a flexible membrane structure that can deform and conform to delicate surfaces without causing damage. The membrane maintains structural integrity through its elastic properties while avoiding the harmful rigid contact that damages fragile components.
Solution Approach 2:
The patent changes the physical state of the gripping material from liquid to solid through phase transition, allowing the membrane to adapt its mechanical properties. In liquid state, the membrane remains soft and compliant for safe contact; in solid state, it provides sufficient gripping force.
2Stability of the object's composition
If the deformable head extends along the plane of the base portion, then structural stability is maintained, but the gripper is limited in use in constricted spaces
Solution Approach 1:
The patent enables the membrane to expand in multiple dimensions including perpendicular to the arm's longitudinal axis. This multi-directional expansion capability allows the gripper to access and operate in constricted spaces such as pipes while maintaining structural stability through the membrane's elastic recovery.
3Object-affected harmful factors
If a soft deformable gripper mechanism is used to avoid damage, then delicate surfaces are protected, but gripping force may be insufficient
Solution Approach 1:
The patent utilizes phase transition of the gripping material from liquid to solid state. In liquid state, the material provides soft, compliant contact that protects delicate surfaces. Upon phase transition to solid state, the material provides sufficient gripping force to securely hold objects, thus resolving the contradiction between softness and gripping strength.
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 secure gripping and removal of debris in confined spaces without causing damage to delicate surfaces, with the ability to manipulate in three dimensions and adapt to various geometries, suitable for use in complex industrial settings like nuclear power plants and gas turbine engines.
Implementation Method 1
a transition means which is applied to the phase change material in the cavity so that it changes phase of the material from a liquid to a solid so that object is gripped by the flexible surface membrane and the phase transition material
Implementation Method 2
the at least one air tube is used for inflating and/or creating a vacuum within the cavity such that the cavity can be inflated so that the phase change material is forced against the flexible surface membrane
Data Source
AI summary
A particle gripper comprising a flexible surface membrane connected to a resiliently deformable neck portion which has a cavity filled with a phase change material, and at least one air tube, the flexible surface membrane and the phase change material are configured to deform around an object to be gripped; and wherein the at least one air tube is used for inflating and/or creating a vacuum within the cavity such that the cavity can be inflated so that the phase change material is forced against the flexible surface membrane to expand the flexible surface membrane, and a transition means which is applied to the phase change material in the cavity so that it changes phase of the material from a liquid to a solid so that object is gripped by the flexible surface membrane and the phase transition material.