Soft Pneumatic Gripper Layout for Irregular Object Grasping
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Solution Overview
Problem
Existing grasping devices using fluid pressure actuators that curve during contraction struggle to effectively grasp objects with irregular shapes or sizes, such as spherical or amorphous objects.
Innovation Solution
The proposed grasping device employs a plurality of flexible soft fluid pressure actuators that curve during contraction, with a soft member provided on the proximal end portion side to facilitate stable grasping of objects by allowing the soft member to deform and support the object appropriately.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fluid pressure actuator that curves during contraction is used, then the actuator can grasp certain objects, but it cannot reliably grasp objects with spherical or amorphous shapes
Solution Approach 1:
The grasping device divides the actuation function into multiple independent fluid pressure actuators instead of using a single actuator. Each actuator can independently curve and contract, allowing the system to adapt to various object shapes by coordinating the movement of multiple segmented actuator units.
Solution Approach 2:
The fluid pressure actuators are designed to dynamically change their curvature and contraction state based on the object being grasped. By controlling the fluid pressure, the actuators can adjust their shape in real-time to accommodate spherical, amorphous, or other irregular shapes, enhancing both reliability and adaptability.
2Reliability
If multiple fluid pressure actuators are used to improve grasping reliability, then spherical and amorphous objects can be grasped, but the device complexity increases
Solution Approach 1:
Multiple fluid pressure actuators are combined in a coordinated manner to work together as a unified grasping system. The actuators are arranged and controlled to function collectively, providing reliable grasping for various object shapes while sharing control mechanisms and fluid supply systems to mitigate the increase in overall device complexity.
3Adaptability or versatility
If the fluid pressure actuator curves during contraction, then it can adapt to some object shapes, but the control difficulty increases
Solution Approach 1:
The curvature and contraction of the fluid pressure actuators are controlled by changing fluid pressure parameters. By adjusting pressure levels and distribution, the actuators can achieve different curvature states to adapt to various object shapes, providing a simple and effective control mechanism that reduces overall control difficulty.
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 and stably grasp objects with varying shapes and sizes, ensuring reliable object handling even when the objects are spherical or amorphous.
Implementation Method 1
a rubber tube that expands and contracts by air pressure
Implementation Method 2
A soft member 30 is provided in a space on a proximal end portion 200 side of the fluid pressure actuator surrounded by the plurality of the fluid pressure actuators
Data Source
AI summary
When each of the fluid pressure actuators contracts, the fluid pressure actuator of the grasping device is provided so that a tip portion of one of the fluid pressure actuators approaches a tip portion of other fluid pressure actuators, and a soft member is provided in a space on a proximal end portion side of the fluid pressure actuator surrounded by the plurality of the fluid pressure actuators.