Industrial Consultancy & Sponsored Research (IC&SR) , IIT Madras
A Compliant Mechanism based Variable Stiffness Robotic Grasper
Technology Category/Market
Technology: Robotics, Automation, Machines Manufacturing
Applications: Robotic Grasper, structural morphing, Variable stiffness, Industrial robots, automation, safety robots, transportations.
Market: The global robotic gripper market was valued at US$ 1.6 B in 2022 and is projected to total US$ 2.8 B by 2028 expanding at a CAGR of 9.8% from 2021 to 2028.
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Problem Statement
- Grasping objects is an essential function of robotic systems and the end effectors design is one of the most important aspects of a robotic manipulator.
- Operating Robots require end effectors equipped with an ability to sense the objects deformability, and then accordingly control the force exerted on the object to ensure an optimal grasp.
- The method available have certain drawbacks like external power pack for operation in fluid-based systems, slow response for change of stiffness in shape memory materials and low melting point alloys, low range of stiffness variation and continuous power requirements to maintain stiffness for rheological fluids.
- Hence there is a need to improvise the conventional mechanism of robotic grasper.
Technology
- The present patent relates a variable stiffness robotic grasper assembly based on structural modulation of compliant structure.
- The robotic grasper assembly (FIG. 1 illustrates the overview of the apparatus, according to an embodiment of present subject matter) comprises:
- Variable stiffness jaws,
- A parallelogram-based four-bar linkage coupled to jaws,
- A motor for operating the jaws
- A gear arrangement for transmitting the torque from the motor to the jaws through the four-bar linkage to open and close the jaws.
- Further, the apparatus comprising one or more proximity sensors adapted to detect a potential contact.
- Wherein the rotors are configured to be rotated to present a surface of reduced stiffness in response to sensor inputs corresponding to potential contact in a collaborative environment.
Key Features/Value Proposition
- Compact construction.
- Requires low power for actuation.
- No power needed to maintain stiffness.
- Can do form closure & force closure of the grasped object and is capable to perform internal & external grasps.
- Ability to change stiffness even while grasping an object
- Can be scaled up or down to any size depending on the application.
- Applicable in surgical tool tip, apple picking grasper, material handling.
Questions about this Technology?
Contact for Licensing
smipm-icsr@icsrpis.iitm.ac.in
ipoffice2@iitm.ac.in
Research Lab
Prof. Asokan T
Department of Engineering Design
Intellectual Property
- IDF Ref: 2043
- Application No. 202041027961
- PCT/IN2021/050643
Technology Readiness Level
TRL- 3/4
Proof of Concept ready & validated