Soft Robotic Actuators for Adaptive Gripping of Mixed Objects
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Solution Overview
Problem
Conventional robotic grippers are expensive, inflexible, and incapable of handling objects with varying weights, sizes, and shapes, limiting their adaptability in manufacturing and packaging applications.
Innovation Solution
Soft robotic actuators made from elastomeric materials, which can inflate with fluids to change shape and conform to objects, allowing for adaptive gripping and manipulation of objects without damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If hard fixturing and positioning devices are used, then structural strength and stability are improved, but adaptability to objects of varying sizes and shapes deteriorates
Solution Approach 1:
The patent employs soft robotic actuators with flexible elastomeric bodies that can conform to objects of varying sizes and shapes. These actuators use inflatable chambers that expand and contract to adapt to different object geometries, replacing traditional hard fixturing while maintaining sufficient holding force through controlled inflation pressure.
Solution Approach 2:
The system changes the physical state of the actuators by controlling inflation pressure levels. By adjusting the amount of inflation fluid in the chambers, the actuators can dynamically modify their stiffness, volume, and shape to match different object requirements, enabling a single device to handle multiple object types effectively.
2Force
If conventional robotic grippers are used, then gripping force is improved, but object damage and handling gentleness deteriorates
Solution Approach 1:
The soft robotic actuators utilize compliant elastomeric materials that naturally conform to the object surface, distributing gripping force evenly across the contact area. This flexibility prevents localized stress concentrations that could damage delicate objects, while the inflatable chambers provide sufficient holding force when needed.
Solution Approach 2:
The system uses controlled inflation of pneumatic chambers within the actuators to generate gripping force. By regulating the inflation pressure, the system can apply gentle forces for fragile objects or increase force for heavier items, eliminating the need for high-force mechanical grippers that risk object damage.
3Adaptability or versatility
If soft robotic actuators are used, then adaptability and gentleness are improved, but device complexity and control mechanisms worsen
Solution Approach 1:
The actuator is divided into multiple independent inflatable chambers that can be controlled separately. Each chamber can be inflated or deflated independently, allowing complex gripping and manipulation tasks to be broken down into simpler individual chamber control actions, reducing overall system complexity.
Solution Approach 2:
The soft robotic actuator is designed to perform multiple functions including gripping, positioning, and manipulation using the same basic inflatable chamber structure. This multi-functionality reduces the need for multiple specialized devices, simplifying the overall system despite the advanced capabilities provided.
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
Soft robotic actuators provide a cost-effective, adaptable, and gentle means of handling objects of varying sizes and shapes, enabling efficient positioning, packaging, and assembly tasks while minimizing damage.
Implementation Method 1
an elastomeric body having a reservoir and configured to be inflated by receiving an inflation fluid in the reservoir
Data Source
Figure 1A~1B
Figure 1C~1D
Figure 2A~2B
AI summary
Exemplary embodiments relate to applications for soft robotic actuators in the manufacturing, packaging, and food preparation industries, among others. Methods and systems are disclosed for packaging target objects using soft robotic actuators, for moving and positioning target objects and/or receptacles, and/or for diverting or sorting objects. By using soft robotic actuators to perform the fixing, positioning, and/or diverting, objects of different sizes and configurations may be manipulated on the same processing line, without the need to reconfigure the line or install new hardware when a new object is received.