Variable Compliance Finger Assembly with Inflatable Element
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Solution Overview
Problem
Automated picking systems face challenges in grasping both robust and fragile items without causing damage due to the lack of variable compliance in finger assemblies of manipulating apparatuses.
Innovation Solution
A manipulating apparatus with a finger assembly featuring a rigid body and an inflatable element that can be pressurized to varying pressures, forming protrusions through apertures on the gripping surface, allowing for adjustable compliance based on object characteristics, along with reinforcement elements to maintain rigidity and a mesh for increased durability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a rigid finger assembly is used, then structural strength and stability are improved, but the ability to grasp fragile items without damage deteriorates
Solution Approach 1:
The finger assembly incorporates an inflatable element that can dynamically change its compliance state. When inflated, the element becomes softer to gently grasp fragile items; when deflated, it allows the rigid body to provide structural strength. This dynamic transition resolves the contradiction between needing rigidity for strength and softness for fragile item handling.
Solution Approach 2:
The compliance of the finger assembly is adjusted by changing the inflation pressure of the inflatable element. By varying the pressure parameter, the system can adapt its mechanical properties to match the characteristics of different objects being manipulated, allowing safe handling of both robust and fragile items.
2Adaptability or versatility
If an inflatable element is added to provide variable compliance, then the ability to handle different object types is improved, but device complexity increases
Solution Approach 1:
The inflatable element serves multiple functions: it provides compliance for fragile items, enables variable grip force through pressure adjustment, and can be integrated into the existing rigid body structure. This multi-functionality achieves high adaptability without proportionally increasing complexity.
Solution Approach 2:
The inflatable element is received within the rigid body, with the rigid body acting as a housing or container for the inflatable component. This nested arrangement integrates the compliant element into the existing structure rather than adding a separate external mechanism, thereby reducing overall system complexity.
3Ease of operation
If the inflatable element protrudes through apertures to form grip surfaces, then contact with objects is improved, but the risk of finger assembly distortion increases
Solution Approach 1:
The inflatable element is divided into multiple discrete protrusions that form through separate apertures in the rigid body. This segmentation allows each protrusion to independently contact and grip objects while the rigid body maintains overall structural stability, preventing distortion of the entire finger assembly.
Solution Approach 2:
The rigid body provides rigidity and structural stability in regions where it is needed to prevent distortion, while the inflatable element provides local compliance and contact capability at the gripping surfaces. This spatial differentiation of mechanical properties resolves the contradiction between contact ability and structural stability.
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
Enables secure gripping and manipulation of items with adjustable compliance, preventing damage by varying the pressure of the inflatable element to match the object's characteristics, ensuring robust handling of heavy items and gentle handling of fragile ones.
Implementation Method 1
a pressure regulating means configured to receive the inflation control signal and pressurise the inflatable element in dependence on the inflation control signal
Data Source
AI summary
This disclosure relates to a manipulating apparatus including a finger assembly with a rigid body having an aperture and an inflatable element received within the rigid body. When the inflatable element is inflated, a region of the inflatable element forms a protrusion through the aperture. A controller is configured to output an inflation control signal for pressurising the inflatable element according a target pressure, the target pressure being dependent on a characteristic of an object being manipulated.