Two-Phalanx Adhesive Gripper for Variable Object Geometries
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Solution Overview
Problem
Conventional grippers lack versatility, particularly for gripping special objects such as large, flat objects or those with cylindrical or conical portions, and require multiple tools, leading to high costs and bulkiness.
Innovation Solution
A gripper design with an actuated finger comprising a first and second phalanx that can rotate around parallel axes, featuring a controllable adhesion element and adjustable return mechanisms, allowing rotation and adhesion to adapt to various object geometries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a conventional gripper with a straight or curved finger is used, then it is suitable for gripping objects of similar and predefined geometry, but it lacks versatility for gripping special objects such as large, flat objects or objects having a cylindrical or conical portion
Solution Approach 1:
The finger is designed with two rotatable phalanges that can dynamically change the finger's configuration from straight to curved. The first phalanx rotates around a first axis, and the second phalanx rotates around a second axis parallel to the first axis, allowing the finger to adapt its shape to different object geometries including flat, cylindrical, and conical objects.
Solution Approach 2:
The finger is segmented into two rotatable phalanges (first and second phalanges) that can independently rotate around parallel axes. This segmentation allows each phalanx to contribute to the overall curvature adjustment, enabling the finger to achieve various curved configurations for different object types.
2Adaptability or versatility
If multiple tools are used for special objects, then gripping capability for various object types is improved, but the multiplicity of tools makes quick change devices expensive and bulky
Solution Approach 1:
The gripper finger is designed as a multi-functional tool that can grip various object types (flat, cylindrical, conical) using the same finger structure. By rotating the phalanges to different configurations, the single finger performs the function of multiple specialized tools, eliminating the need for expensive and bulky quick change devices.
3Adaptability or versatility
If multiple tools are used for special objects, then gripping capability for various object types is improved, but the multiplicity of tools increases costs
Solution Approach 1:
The gripper finger is designed as a multi-functional tool that can grip various object types (flat, cylindrical, conical) using the same finger structure. By rotating the phalanges to different configurations, the single finger performs the function of multiple specialized tools, eliminating the need for expensive quick change devices and reducing overall system cost.
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
Enhances versatility, reduces tool change time and storage space, and lowers costs and size of manipulators by enabling stable grip on non-grippable objects.
Implementation Method 1
the finger comprises a controllable adhesion element
Data Source
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AI summary
Disclosed is a gripper (1) comprising a frame (2) and a finger (3) comprising a first, distal phalanx (10) and a second, proximal phalanx (20) that are mechanically connected to one another, the finger comprising a controllable adhesion element (70).