Transformable Soft Gripper With Suction and Jamming Modes
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Solution Overview
Problem
Existing soft grippers face limitations in their ability to handle objects of varying sizes and shapes, as suction grippers can only attach objects with a contact surface smaller than the working face of the suction cup, and jamming grippers can only grasp objects larger than the jamming cavity.
Innovation Solution
A soft gripper structure with a transformation mechanism that seamlessly switches between suction and jamming configurations, fabricated using silicone rubber casting and 3D-printed molds, and controlled by a pneumatic system, allowing it to adapt to objects of different sizes and shapes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a suction gripper is used, then objects with contact surface smaller than the working face can be grasped, but objects with larger contact surface cannot be grasped
Solution Approach 1:
The gripper structure dynamically transforms between suction configuration and jamming configuration based on the size of the object being grasped. The flexible neck portion allows the suction cup to expand or contract, and the jamming material can be introduced or removed to change the grasping mechanism, enabling adaptation to various contact surface areas
Solution Approach 2:
The gripper integrates multiple grasping functions into a single device by combining both suction cup and jamming gripper capabilities. The same basic structure can perform suction grasping for larger objects and jamming grasping for smaller objects, making the device universal for handling objects of varying sizes
2Adaptability or versatility
If a jamming gripper is used, then objects with contact surface smaller than the jamming cavity can be grasped, but objects with larger contact surface cannot be grasped
Solution Approach 1:
The gripper dynamically switches between jamming configuration and suction configuration depending on object size. For smaller objects, the jamming material is introduced into the neck chamber to enable jamming grasping, while for larger objects, the suction configuration is activated, allowing the gripper to adapt to different contact surface areas
Solution Approach 2:
The integrated design allows the single gripper structure to perform both jamming grasping for small objects and suction grasping for large objects, providing universal grasping capability across a wide range of contact surface areas
3Adaptability or versatility
If a fixed configuration gripper is used, then the structure is simple, but the adaptability to handle objects of varying sizes is limited
Solution Approach 1:
The gripper employs dynamic transformation between different configurations (suction and jamming) through pneumatic control. The flexible neck portion and controllable jamming material introduction allow the structure to change its grasping mode, achieving high adaptability while maintaining relatively simple overall structure
Solution Approach 2:
The jamming material is nested within the neck chamber of the gripper structure, allowing it to be stored when not needed and introduced only when jamming grasping is required. This nesting approach enables configuration transformation without adding significant external complexity
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 gripper can securely grasp both larger and smaller objects by creating a vacuum seal or conforming to irregular shapes, enhancing its versatility and suitability for diverse tasks in industries like logistics and manufacturing.
Implementation Method 1
a pneumatic control system enables the gripper to transform between the suction gripper configuration and the jamming gripper configuration
Implementation Method 2
the suction cup portion comprises a suction cup chamber therein... configured to attach and detach objects with a contact surface larger than the working face of the suction cup
Implementation Method 3
the main chamber that is configured to be in gas communication with a first pneumatic source and to receive a jamming material... configured to attach and detach objects with a contact surface smaller than the working face of the suction cup
Data Source
AI summary
In some embodiments, provided is soft grippers, methods of making the same, systems and methods of controlling the same. In one embodiment, the soft gripper comprises a main body comprising a suction cup portion and a neck portion; and a contact membrane, wherein the neck portion comprises a neck chamber and the suction cup portion comprises a suction cup chamber therein, together form a main chamber that is configured to be in gas communication with a first pneumatic source and to receive a jamming material, and wherein the neck portion comprises at least one assisted chambers therein disposed around the neck chamber and configured to be in gas communication with a second pneumatic source. Other example embodiments are described herein. In certain embodiments, provided soft grippers enable seamless transformation between suction gripper configuration and jamming gripper configuration, thereby enhanced grasping capability and versatility.