Soft Joint Gripper with 4D Printed Actuators for Precise Control
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Solution Overview
Problem
Existing soft joint grippers based on 4D printing technology face challenges in achieving accurate control over complex deformation and grasping due to infinite degrees of freedom and lack of information detection and transmission, limiting their ability to perform precise and coordinated bending.
Innovation Solution
A soft joint gripper with five soft finger units, each equipped with double-layer thin-film soft finger joint actuators made of 4D printed liquid crystal elastomer and polyimide electrothermal film, along with a consistency control method that establishes dynamic models and protocols to ensure coordinated bending and grasping by determining centroid positions and velocities, and using a polyimide electrothermal film to control temperature and bending angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If 4D printing intelligent materials are used for soft joint gripper, then intelligent deformation behaviors such as sensing, driving and controlling are achieved, but it is difficult to control due to multiple degrees of freedom in the process of self-assembly and self-deformation
Solution Approach 1:
The soft joint gripper is divided into multiple independent soft finger units, each with its own actuator. This segmentation allows each unit to be controlled independently, reducing the overall control complexity while maintaining the intelligent deformation capabilities of the full system.
Solution Approach 2:
The patent applies consistency control theory by introducing control parameters (position and velocity) to regulate the deformation behavior of multiple soft finger units. By changing the control parameters and using feedback mechanisms, the system achieves coordinated deformation despite having multiple degrees of freedom.
2Power
If pneumatic drive technology is used for soft robot, then driving capability is achieved, but the control system is complex and does not use an accurate control algorithm
Solution Approach 1:
The patent replaces traditional pneumatic drive systems with 4D printing intelligent materials that respond to environmental stimuli (such as temperature changes). This substitution eliminates the need for complex pneumatic control systems while maintaining driving capability through material-based actuation.
Solution Approach 2:
The 4D printing intelligent materials exhibit self-actuating properties, automatically deforming in response to external stimuli without requiring complex external control systems. The materials themselves perform the driving function, reducing the need for separate control mechanisms.
3Adaptability or versatility
If a single bending and clamping device with infinite degrees of freedom is used, then simple bending behavior is achieved, but accurate control is not realized
Solution Approach 1:
The single bending device is segmented into multiple soft finger units with finite degrees of freedom. Each unit has a defined number of joints and actuators, which enables precise control of each segment while maintaining the overall bending capability of the system.
Solution Approach 2:
The patent implements feedback control mechanisms to monitor and adjust the position and velocity of each soft finger unit. This feedback enables accurate control of the bending behavior, ensuring that each unit reaches its target position with the desired precision.
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 enables precise and coordinated bending of soft finger units, overcoming the issue of infinite degrees of freedom and achieving consistent position and velocity convergence, thereby enhancing the intelligence and operability of the soft joint gripper.
Implementation Method 1
the bending angle of each double-layer thin-film soft finger joint actuator is changed by energization or heating stimulation
Implementation Method 2
the bending degree is controlled by a temperature adjusting mechanism
Implementation Method 3
double-layer thin-film soft finger joint actuators made of 4D printed liquid crystal elastomer
Data Source
AI summary
A soft joint gripper based on 4D printing comprises a palm body and five soft finger units connected with the palm body; each soft finger unit is provided with two soft finger joints and two finger bones; the finger bones are made of 3D printing resin; the soft finger joints are two symmetrical double-layer thin-film soft finger joint actuators; the double-layer thin-film soft finger joint actuator is made of a 4D printing liquid crystal elastomer and a polyimide electrothermal film, and the bending angle of each double-layer thin-film soft finger joint actuator is changed by energization or heating stimulation; and the double-layer film soft finger joint actuator is used to control the soft finger unit to perform reversible bending motion. Accurate control of the soft joint gripper can be realized.