Ultrasonic Gripper Finger Release Using Safe-Spacing Vibration
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Solution Overview
Problem
Existing microgrippers face issues with excessive stress on target objects during release, leading to potential damage, and struggle with adhering objects that are difficult to detach.
Innovation Solution
A hand with first and second finger parts, driven by an ultrasonic motor, includes a position detection unit to set a reference relative position and move to a target position for release, and causes controlled vibration to detach objects without excessive stress.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the U-shaped grasping fingers vibrate at high frequency to repeat closing and opening alternately to detach the grip target object, then the grip target object can be detached from the U-shaped grasping fingers, but excessive stress is applied to the grip target object which may break or damage it
Solution Approach 1:
The patent applies mechanical vibration to the finger part to detach the grip target object. By causing the finger part to vibrate in the opening direction after moving to a position where the finger parts are spaced apart by the vibration amplitude or more, the vibration facilitates detachment without requiring high-frequency alternating closing and opening that would apply excessive stress.
Solution Approach 2:
The patent uses periodic action through controlled vibration rather than continuous high-frequency alternating motion. The vibration is applied periodically after the finger parts have moved to a safe spacing position, achieving detachment through repeated vibrational cycles without the harmful alternating closing and opening.
2Ease of operation
If the U-shaped grasping fingers are made to vibrate at high frequency to detach the grip target object, then the detachment function is achieved, but the complexity of the vibration control increases
Solution Approach 1:
The patent applies preliminary action by first moving the finger parts to a target position where they are spaced apart by the vibration amplitude or more before applying vibration. This preliminary positioning ensures that when vibration is applied, the finger parts are already at a safe distance, simplifying the vibration control requirements and reducing complexity.
Solution Approach 2:
The patent introduces an intermediary step of position control between the gripping and detachment phases. By using a position detection unit and drive control unit to manage the relative position before vibration, the system mediates between the gripping function and detachment function, simplifying the overall control complexity.
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 hand effectively grips and releases objects with a controlled force, minimizing the risk of damage and ensuring secure detachment without applying excessive stress.
Implementation Method 1
a drive unit driving at least one of the first finger part and the second finger part... causing at least one of the first finger part and the second finger part to vibrate
Data Source
AI summary
A method for driving a hand includes: detecting a relative position of a first finger part and a second finger part as of when the first finger part and the second finger part pinch a target object therebetween, as a reference relative position, by a position detection unit; moving the relative position of the first finger part and the second finger part to a target relative position where the first finger part and the second finger part are spaced further apart from each other than at the reference relative position by an amplitude of vibration or more, by a drive unit, on accepting an instruction to release the target object pinched by the first finger part and the second finger part; and causing at least one of the first finger part and the second finger part to vibrate by the drive unit, when the target relative position is achieved.