Toroidal Gripper with Granular Jamming for Stable Workpiece Transfer
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Solution Overview
Problem
Conventional jamming gripping tools for transfer robots fail to generate a sufficient gripping force to hold workpieces effectively due to inadequate contact surface area and air leakage issues, leading to unstable workpiece transfer.
Innovation Solution
A gripping tool with a toroidal gripper and a ring-shaped fixing portion that allows the gripper to deform and envelop the workpiece, using a granular material that solidifies upon depressurization to generate a strong gripping force, with a through-hole that enhances suction effect and uniform gripping force distribution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a hollow bag with granular material is mounted to a pressure supporting surface, then the gripper can conform to the workpiece configuration, but the gripping force is insufficient to hold the workpiece
Solution Approach 1:
The patent employs a toroidal (doughnut-shaped) gripper geometry with curved surfaces that naturally conform to spherical or curved workpiece configurations. This curvature enables better contact area and pressure distribution across the workpiece surface, improving gripping force while maintaining adaptability to various workpiece shapes
Solution Approach 2:
The invention introduces a through-hole dimension running through the center of the toroidal gripper, creating a three-dimensional structure with internal and external surfaces. This dimensional addition increases the total contact surface area with the workpiece and allows granular material to be distributed more effectively, generating sufficient gripping force while maintaining conformity
2Adaptability or versatility
If the gripper is made flexible to conform to workpiece, then adaptability improves, but air leakage occurs and gripping stability deteriorates
Solution Approach 1:
The toroidal gripper is divided into distinct structural segments including the toroidal body, through-hole, and multiple contact surfaces. This segmentation allows the flexible material to conform to workpiece contours while the structured geometry maintains structural integrity and prevents air leakage paths that would compromise gripping stability
Solution Approach 2:
The patent applies different functional qualities to different parts of the gripper: the outer toroidal surface provides conformity and contact, the through-hole provides structural rigidity and additional contact surfaces, and the internal geometry controls granular material distribution. This local differentiation enables flexibility where needed while maintaining stability where required
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 provides a stable and sufficient gripping force for workpiece transfer, improving the gripping effect and preventing air leakage, allowing for more reliable handling and transfer of various workpiece configurations.
Implementation Method 1
The granular material is solidified and grips the workpiece
Implementation Method 2
The interior of the gripper is depressurized
Data Source
AI summary
According to one embodiment, a gripping tool includes a gripper. The gripper is flexible. A granular material is provided in an interior of the gripper. The gripper is configured to grip a workpiece by being in close contact with the workpiece in a state in which an outer perimeter of the gripper is held, and by the interior of the gripper being depressurized.