Variable Friction Finger Assembly for Robotic Gripping
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Solution Overview
Problem
Automated picking systems require finger assemblies that can switch between low friction for easy object manipulation and high friction for effective gripping, but existing solutions do not efficiently manage this transition.
Innovation Solution
A finger assembly with a rigid body and an inflatable element, where the inflatable element protrudes through apertures to form high-friction protrusions when inflated, allowing for adjustable friction levels and stable object gripping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the finger assembly uses a low friction surface for manipulation, then the ease of object engagement is improved, but the gripping capability deteriorates
Solution Approach 1:
The finger assembly dynamically changes its friction characteristics by inflating the inflatable element to protrude through the apertures in the gripping surface, transitioning from a low friction state during manipulation to a high friction state during gripping, thereby resolving the contradiction between ease of engagement and gripping capability
Solution Approach 2:
The invention changes the friction parameter of the gripping surface by using an inflatable element that can alter the surface properties. When inflated, the element creates protrusions that increase the coefficient of friction, enabling effective gripping while maintaining low friction during manipulation when deflated
2Reliability
If the finger assembly uses a high friction surface for gripping, then the gripping capability is improved, but the ease of manipulation deteriorates
Solution Approach 1:
The system dynamically switches between high and low friction states based on operational needs. The inflatable element is deflated during manipulation for easy handling and inflated during gripping to provide secure hold, eliminating the need to choose a fixed friction state
Solution Approach 2:
The friction parameter is made variable through the inflatable element. The gripping surface transitions from low friction (deflated state) during manipulation to high friction (inflated state) during gripping, allowing optimal performance for both operations
3Adaptability or versatility
If the inflatable element is made flexible to protrude through apertures, then the variable friction capability is improved, but the structural rigidity deteriorates
Solution Approach 1:
The gripping surface is segmented with multiple apertures distributed across the surface. This segmentation allows the inflatable element to protrude through specific locations while maintaining overall structural integrity, resolving the contradiction between flexibility for variable friction and rigidity for structural stability
Solution Approach 2:
The inflatable element provides localized changes in friction properties at the aperture locations while the rest of the gripping surface maintains its structural rigidity. The local protrusions create high friction zones without compromising the overall structural integrity of the finger assembly
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 efficient object manipulation by transitioning from low friction for easy sliding to high friction for secure gripping, enhancing the robotic picking system's ability to handle items effectively.
Implementation Method 1
The rigid body has a low friction gripping surface and one or more apertures formed within the low friction gripping surface. In the active state, pressure in the finger element may be increased such that regions of the inflatable element protrude through the one or more apertures. The protrusions have a high friction and enable an object to be gripped by two opposed finger assemblies.
Data Source
AI summary
This disclosure relates to a finger assembly for a manipulating apparatus. The finger includes a rigid body having a surface configured to engage an object. The surface has a first coefficient of friction, apertures, and an inflatable element received within the rigid body, having a coefficient of friction which is greater than the first coefficient of friction. When the inflatable element is inflated, regions of the inflatable element form one or more protrusions by protruding through the one or more apertures.