Systems and methods for providing, in programmable motion devices, compliant end effectors with noise mitigation

Abstract

A vacuum cup is disclosed for use in a programmable motion device. The vacuum cup includes an open inlet for coupling to a vacuum source, and a vacuum cup lip on a portion of the vacuum cup that generally surrounds the open inlet. The vacuum cup lip includes an inner surface that defines the open outlet through which a vacuum may be provided, and includes noise mitigation features on an outer surface of the vacuum cup lip.

Description

SYSTEMS AND METHODS FOR PROVIDING, IN PROGRAMMABLE MOTION DEVICES, COMPLIANT END EFFECTORS WITH NOISE MITIGATION

[0001] BACKGROUND

[0002] The invention generally relates to programmable motion systems and relates in particular to end-effectors for programmable motion devices (e.g., robotic systems) for use in object processing such as object sortation or order fulfillment.

[0003] End-effectors for robotic systems may be employed, for example, in certain applications to select and grasp an object, and then move the acquired object very quickly to a new location. Endeffectors should be designed to quickly and easily select and grasp an object from a jumble of dissimilar objects, and should be designed to securely grasp an object during movement. Certain end-effectors, when used on different objects of different physical sizes, weights and materials, may have limitations regarding how securely they may grasp an acquired object during rapid movement, particularly rapid acceleration and deceleration (both angular and linear).

[0004] Many end-effectors employ vacuum pressure for acquiring and securing objects for transport and / or subsequent operations by robotic systems that include articulated arms. Other techniques for acquiring and securing objects involve electrostatic attraction, magnetic attraction, needles for penetrating objects such as fabrics, fingers that squeeze an object, hooks that engage and lift a protruding feature of an object, and collets that expand in an opening of an object, among other techniques.

[0005] In applications where vacuum pressure is used to acquire and secure objects, an end-effector may include a vacuum cup having a compliant lip that contacts the object to be grasped. The compliant lip may be formed of a polymeric or elastomeric material that is flexible enough to allow it to adapt to variations in surface structures. The lip may facilitate 1 Date Re9ue / Date Received 2023-07-31 CA 03150291 2022-02-07 WO 2021 / 026183 PCT / 0S2020 / 044923 creating a seal with a surface despite irregularities such as bumps and texture on the surface. The flexibility allows the vacuum cup to conform to the shape of objects or to wrap around comers of objects to create an adequate seal for acquiring and securing the object. 10006] When a good seal is not created between a flexible vacuum cup and an object however, (due fr.ff example, to the nature of the product or because the vacuum cup is overhanging an edge of the object), the portion of the lip ofthe vacuum cup that is not well sealed may contribute to making noise, sometimes a substantial amount of noise, and the noise level may be above safe limits if human personnel are in close proximity to the programmable motion device. Other t:)11es of end-effectors, hc.wvever, including vacuum cups with less flexible lips (in addition to those using electrostatic attraction, magnetic attraction, needles for penetrating objects such as fabrics, fingers that squeeze an object, hooks that engage and lift a protmding feature of an object, and collets that expand in an opening of an object), are less effective at acquiring and moving a wide variety of objects. !0007l There remains a need therefore, for an end-effector system in a programmable motion system that may select and grasp any of a wide variety of objects, ,md then move the acquired objects very quickly to a new location while not producing an unacceptable level of noise. SUMMARY l0008] In accordance with an aspect, the invention provides a vacuum cup for use in a programmable motion device. 11u; vacuum cup includes an open inlet for coupling to a vacuum source, and a vacuum cup lip on a portion of the vacuum cup that generally surrounds the open inlet. The vacuum cup lip includes an inner surface that defines the open outlet through vvhich a vacuum may be provided, and includes noise mitigation features on an outer surface of the vacuum cup lip. [OOO<fl In accordance with another aspect, the invention provides a vacuum cup for use in a programmable motion device. TI1e vacuum cup includes an open inlet for coupling to a vacuum source, a vacuum cup lip on a portion of the vacuum cup that is generally opposite the open inlet, and an open outlet through which a vacuum may be provided. The vacuum cup includes a plurality ofprotrnsions on an outer surface of the vacuum cup lip. 2 3

[0010] In accordance with yet another aspect, the invention provides a method of providing a vacuum source in a programmable motion device. The method includes coupling the vacuum source to open inlet of a vacuum cup, the vacuum cup including noise mitigation features on an outer surface of the vacuum cup, and providing a vacuum cup open outlet through which the vacuum may be provided.

[0011] In accordance with a further aspect, the invention provides a system for providing automated processing of objects. The system includes a programmable motion device including an end-effector that is coupled to a vacuum source. The end-effector includes a vacuum cup that includes noise mitigation features on an outer surface of the vacuum cup. [0011a] In accordance with another aspect, there is provided a vacuum cup for use in a programmable motion device, the vacuum cup comprising an open inlet for coupling to a vacuum source, and a vacuum cup lip on a portion of the vacuum cup that surrounds an open outlet, the vacuum cup lip including an inner surface that defines the open outlet through which a vacuum is provided, and including noise mitigation features on an outer surface of the vacuum cup lip, and wherein the noise mitigation features include protrusions from the vacuum cup lip on the outer surface of the vacuum cup lip and the protrusions are positioned alternate internal ribs on an inner surface of the vacuum cup lip. [0011b] In accordance with another aspect, there is provided a vacuum cup for use in a programmable motion device, the vacuum cup comprising an open inlet for coupling to a vacuum source, a vacuum cup lip on a portion of the vacuum cup that is opposite the open inlet, and a vacuum cup open outlet through which a vacuum is provided, the vacuum cup including a plurality of protrusions on an outer surface of the vacuum cup lip, and wherein the plurality of protrusions CA 3150291 Date reçue / Received date 2024-09-20 3a include at least partially spherical protrusions and the plurality of protrusions are positioned alternate internal ribs on an inner surface. [0011c] In accordance with another aspect, there is provided a method of providing a vacuum source in a programmable motion device, the method comprising: coupling the vacuum source to an open inlet of a vacuum cup, the vacuum cup including noise mitigation features on an outer surface of the vacuum cup, wherein the noise mitigation features include protrusions from the vacuum cup on the outer surface of the vacuum cup and the protrusions are positioned alternate internal ribs on an inner surface of the vacuum cup; and providing a vacuum cup open outlet through which a vacuum is provided. [0011d] In accordance with yet another aspect, there is provided a system for providing automated processing of objects, the system comprising a programmable motion device including an end effector that is coupled to a vacuum source, the end effector including a vacuum cup that includes noise mitigation features on an outer surface of the vacuum cup, and wherein the noise mitigation features include protrusions from a vacuum cup lip on the outer surface of the vacuum cup and the protrusions are positioned alternate internal ribs on an inner surface of the vacuum cup. BRIEF DRESCRIPTION OF THE DRAWINGS

[0012] The following description may be further understood with reference to the accompanying drawings in which:

[0013] Figure 1 shows an illustrative diagrammatic view of an automated object processing system in accordance with an aspect of the present invention;

[0014] Figure 2 shows an illustrative diagrammatic view of an underside of an end-effector in accordance with an aspect of the invention that is partially grasping an object; CA 3150291 Date reçue / Received date 2024-09-20

[0015] Figures 3A and 3B show illustrative diagrammatic views of a vacuum end-effector in accordance with the prior art from a side view (Figure 3A) and from below (Figure 3B);

[0016] Figures 4A and 5B show an illustrative diagrammatic partial side views of a portion of a vacuum cup lip initially overhanging an object (Figure 4A), and subsequently undergoing resonance causing noise (Figure 4B);

[0017] Figure 5 shows an illustrative diagrammatic view of an end-effector for use in an automated object processing system in accordance with an aspect of the invention that includes pairs of noise mitigation features;

[0018] Figure 6 shows an illustrative diagrammatic view of an end-effector for use in an automated object processing system in accordance with another aspect of the invention including larger noise mitigation features; 3b Date Re9ue / Date Received 2023-07-31 CA 03150291 2022-02-07 WO 2021 / 026183 PCT / 0S2020 / 044923 [00l9l Figure 7 shows an end-effector for use in an automated object processing system in accordance with another aspect of the invention including sets of three noise mitigation features; 10020] Figure 8 shows an end-effector for use in an automated object processing system in accordance with an aspect of the invention including wedge-shaped noise mitigation features; [0021j Figures 9A and 9B show an end-effector for use in an automated object processing system in accordance with an aspect of the invention including cylindrical-shaped noise mitigation features from above (Figure 9A) and from below (Figure 9B); [00221 Figure 10 shows an illustrative diagrammatic partial side view of the end-eftector of Figure 5; roo23] Figure 11 shows an illustrative diagrammatic underside view of the end-effector of Figure 9B while undergoing resonance; and [0024l Figure 12 shows an illustrative diagrammatic underside view of an end-effector in accordance with an aspect of the present invention that includes large semi-spherical protmsions as noise mitigation features. l0025] The drawings are shown for illustrative purposes only. DETAILED DESCRIPTION l002<>l In high airflow vacuum applications, a vacuum is provided that has an airt1ow of at least about 100 cubic feet per minute, and a vacuum pressure at the end eflector of no more than about 65,000 Pascals below atmospheric (e.g., about 50,000 Pascals below atmospheric or 7.25 psi). Applicants have discovered that when such a high airflovv vacuum is provided that does not create a good seal (again, due for example to the nature of the product or because the vacuum cup overhangs an edge of the object), the lip may vibrate from the high airfiow creating a loud (sometimes whistling) noise. [00271 In accordance with various aspects, the invention provides a vacuum cup for a programmable motion device that include integral noise mitigation features. In accordance with further specific aspects, the noise mitigation features may include any ofprotmsions, 4 CA 03150291 2022-02-07 WO 2021 / 026183 PCT / 0S2020 / 044923 lands, rises, relief features, and / or bumps that extend from a non-o~ject contacting side of the lip of a vacuum cup. Surprisingly, the use of such features reduces the noise generated by a compliant vacuum cup when used in a high air±1ow application. 10028] In accordance with various aspects, the noise mitigation features increase the mass of the vacuum cup on the outer rim, but do not negatively decrease the flexibility of the material of the vacuum cup lip. Such noise mitigation features are believed to reduce the frequency at which the vacuum cup lip vibrates when subject to the high vacuum flowrate, while not adversely affecting the stiffness of the vacuum cup lip, which is important to providing the compliance (flexibility) needed to create a seal in a wide variety of applications. [00291 111e invention involves adding material to a top side of a lip of a molded vacuum cup, which may be presented as small protrusions or bumps (features) encircling the top side of the lip of the cup in accordance with various aspects. The distance between each of the features, as well as the circumference(es) and height(s) and / or length(s), width(s), and height(s) of the features may vary in accordance wi.th various aspects, together with the material of the vacuum cup lip, the thickness of the lip of the cup ,md the size (diameter) of the circumference of the centers of the circle offoatures, as well as the angle (complex or linear) of the widening of the lip of the vacuum cup within bounds of various aspects of the invention that provide sufficient flexibility to engage a good seal on a variety of objects, yet also provide a sufficient quantity of sufficiently distributed outer mass features on the top side of a lip of a vacuum cup. 10030] For example, a vacuum cup of an end effector may have an innermost diameter (vacuum passage) of about 0.5 inches to about 1.5 inches, while a lip ofthe vacuum cup may have an outer diameter of about 1.5 inches to about 4.5 inches. A high flow vacuum may be provided, e.g., by a blower, having a vacuum pressure at the end effector of no more than about 65,000 Pascals below atmospheric (e.g., about 50,000 Pascals below atmospheric or 7.25 psi).

[0031] Figure 1 for example, shows a system 10 including a progran1mable motion device 12 having an end effector 14 in accordance with an aspect of the present invention. A vacuum source 16 is coupled to the end effector 14 via a hose 18, and the programmable motion device 12 is progranuned to select objects 20, 22, 24 from an input area 26 (including for example a belted conveyor 28), and to provide selected objects to an output area 30 that 5 CA 03150291 2022-02-07 WO 2021 / 026183 PCT / 0S2020 / 044923 includes, for example, one or more output boxes 32 under the control of one or more computer processing sysiems 34. Operation of the programmable motion device (e.g., robot) 12, including for example, current jobs and future intended m.ovements or needs of the robot 12, may be displayed on a monitor 36, and an override stop switch 38 may also be provided for safety purposes. [00321 Figure 2 shows an underside of a vacuum cup 40 of the end effector 14, wherein the vacuum cup 40 is grasping an object 42 such that a seal is not formed against the object because the vacuum cup extends over an edge of the object. Using the hi.gh flow vacuum of embodiments of the present invention (e.g., about 50,000 Pascals below atmospheric), the object is grasped and maintained by the vacuum cup. [00331 Figures 3A and 3B shov,· a vacuum cup 50 in accordance with the prior art. Tue vacuum cup 50 includes an attachment portion 52 for atta.ching to an end effector section, a flexible bellows portion 54, and a flexible flanged portion 56 for creating a seal against objects. The inner surface of the flexible flanged portion 56 includes ribs 58 spaced radially inward ofan outer lip 59 of the vacuum cup. TI1e ribs 58 support the flanged pmtion (i.e., keep the flanged portion from collapsing onto an object), when under the force of a sealed vacuum against an object.

[0034] ·with reference to Figures 4A and 4B, when a seal is not created by the end vacuum cup 50 on an object 42 (e.g., because the object is grasped near an edge of the object), although the object may be able to be lifted by the force of the high flO\v vacuum passing between the ribs 58 (as shown in Figure 4A), the overhanging po1tion of the vacuum cup lip 59 may be drawn toward the object 42 (as shovvn in Figure 4B). Under select circumstances (e.g., the flexibility / stiffness of the flexible lip, the thickness oft.he flexible lip, the air flow rate, and the shape and volume of the open area that is not contacting the object), the vacuum cup lip may vibrate, causing substantial noise. I 0035] Figure 5 shows a vacuum cup 60 in accordance with an aspect of the present invention. The vacuum cup 60 includes an attachment portion 62 for attaching to an end effector section, a flexible bellows portion 64, and a flexible flanged portion 66 for creating a seal against objects. The inner surface of the flexible flanged portion 66 includes ribs 67 spaced radially inward of an outer lip 69 of the vacuum cup. 111e vacuum cup 60 fiuther includes noise mitigation features 68 in the form of partial spheres that are spaced from one 6 CA 03150291 2022-02-07 WO 2021 / 026183 PCT / 0S2020 / 044923 another along a circumference of the vacuum cup lip. The noise mitigation features may be formed of, for example, silicone adhesive. 111e noise mitigation features may be evenly spaced with respect to the ribs 67 such that two foatures are provided ( on the top) between ribs (on the bottom).

[0036] Figure 6 shows a vacuum cup 70 in accordance with another aspect of the present invention that includes single, larger features associated with ribs. Sin1ilarly, the vacuum cup 70 includes an attachment portion 72 for attaching to an end effector section, a flexible bellows portion 74, and a flexible flanged portion 76 for creating a seal against objects. The inner surface of the flexible flanged portion 76 includes ribs 77 spaced radially inward ofan outer lip 79 of the vacuum cup. The vacuum cup 70 further includes noise mitigation foatures 78 in the form of fewer larger spheres than the embodiment of Figure 5 that are spaced from one another along a circumference of the vacuum cup hp. The noise mitigation features may be formed of, for example, silicone adhesive. The noise mitigation features may be evenly spaced with respect to the ribs 67 such that one feature is provided (on the top) between ribs (on the bottom). 10037] Figure 7 shows a vacuum cup 80 in accordance with a further aspect of the present invention that incudes differently sized features. The vacuum cup 80 includes an attachment po1tio11 82 for attaching to an end effector section, a flexible bellows portion 84, and a flexible flanged p01tion 86 for creating a seal against objects. Ihe inner surface of the flexible flanged p01tion 86 includes ribs 87 spaced radially inward ofan outer lip 89 of the vacuum cup. TI1e vacuum cup 80 further includes noise mitigation features 85, 88 in the form of spheres that are spaced from one another along a circumference of the vacuum cup lip. T11e noise mitigation features may be formed of: for example, silicone adhesive. ]be noise mitigation features may be evenly spaced with respect to the ribs 87 such that three foatures of two different sizes are provided (on the top) between ribs (on the bottom). (0038j Figure 8 shows a vacuum cup 90 in accordance with another aspect of the present invention that includes edge-shaped features. Similarly, the vacuum cup 90 includes an attachment portion 92 for attaching to an end etlector section, a flexible bellows portion 94, and a flexible flanged portion 96 for creating a seal against objects, The inner surface of the flexible flanged portion 96 includes ribs 97 spaced radially inward ofan outer lip 99 of the vacuum cup. The vacuum cup 90 further includes noise mitigation features 98 in the form of wedges that are spaced from one another along a circumference of the vacuum cup lip. The 7 CA 03150291 2022-02-07 WO 2021 / 026183 PCT / 0S2020 / 044923 noise mitigation features may be formed of, for example, silicone adhesive. 11ie noise mitigation features may be evenly spaced with respect to the ribs 97 such that one feature is provided ( on the top) benveen ribs ( on the bottom). 10039] Figures 9A and 9B show a vacuum cup 100 in accordance with a further aspect of the present invention that includes cylindrically-shaped features. The vacuum cup 100 includes an attachment portion l 02 fi.)r attaching to an end effector section, a flexible bellows portion 104, and a flexible flanged portion 106 for creating a seal against objects. The inner surface of the flexible flanged portion 106 includes ribs 107 spaced radially inward of an outer lip 109 of the vacuum cup. The vacuum cup 100 further includes noise mitigation features 108 in the form of cylinders that are spaced from one another along a circumference of the vacuum cup lip. The noise mitigation features may be formed of: for example, silicone adhesive. The noise mitigation features may be evenly spaced with respect to the ribs 107 such that two features are provided (on the top side) between ribs (on the bottom side). !0040l ,vith further reference to Figure 10, in accordance v,,ith the above aspects of the present invention, when a seal is not made between a vacuum cup (e.g., 60) and an object 42, the noise mitigation features (e.g., 68) near the vacuum cup lip (e.g., 69) dampen the vibration of the vacuum cup lip, significantly reducing noise. Each ofthe noise mitigation features also discussed above (e.g., 68, 78, 85, 88, 98) may function similarly to reduce noise. Fmther, certain types of noise mitigation features (such as those discussed above with respect to Figures 9A and 98), may contact each other as shown in Figure 11 when the lip moves inward due to a high vacuum flow, further contributing to noise mitigation.

[0041] The noise mitigation features may, for example, range from about 0.008 cubic centimeters to about 1.75 cubic centimeters, and may preferably each be less than about l cubic centimeter in volume in certain embodiments. The noise mitigation features may also be formed of any of a silicone based adhesive, epoxy-based adhesive, or other polymeric material.

[0042] Figure 12 shows vacuum cup similar to that of Figure 6 with larger noise mitigation features. Tn particular, Figure 12 shows a vacuum cup 110 in accordance with another aspect of the present invention that includes larger partial spherically-shaped features. Similarly, the vacuum cup 110 includes an attachment portion 112 for attaching to an end effector section, a flexible bellows portion 114, and a flexible flanged portion 116 for creating a seal against 8 CA 03150291 2022-02-07 WO 2021 / 026183 PCT / 0S2020 / 044923 objects. 111e inner surface of the flexible flanged portion 116 includes ribs 117 spaced radially inward ofan outer lip 119 of the vacuum cup. 111e vacuum cup 110 further includes larger noise mitigation features l 18 in the fom1 of large spheres that arc spaced from one another along a circumference of the vacuum cup lip. 1l1e noise mitigation features may be formed of: for example, silicone adhesive. The noise mitigation features may be evenly spaced with respect to the ribs 117 such that one feature is provided ( on the top) between ribs (on the bottom). [0043 j In accordance with various embodiments therefore, the invention provides a system for providing automated processing of objects, where the system includes a programmable motion device including an end effector that is coupled to a vacuum source, with the end effector including a vacuum cup that includes noise mitigation features on an outer surface thereof [0044j Those skilled in the art will appreciate that numerous modifications and variations may be made to the above disclosed embodiments without departing from the spirit and scope of the present invention. l0045l ¥lhat is claimed is: 9

Claims

10 CLAIMS 1. A vacuum cup for use in a programmable motion device, said vacuum cup comprising an open inlet for coupling to a vacuum source, and a vacuum cup lip on a portion of the vacuum cup that surrounds an open outlet, said vacuum cup lip including an inner surface that defines the open outlet through which a vacuum is provided, and including noise mitigation features on an outer surface of the vacuum cup lip, and wherein said noise mitigation features include protrusions from the vacuum cup lip on the outer surface of the vacuum cup lip and said protrusions are positioned alternate internal ribs on an inner surface of the vacuum cup lip.

2. The vacuum cup as claimed in claim 1, wherein the vacuum cup lip is formed of a flexible polymeric material.

3. The vacuum cup as claimed in claim 1 or claim 2, wherein said noise mitigation features are formed of a polymeric material.

4. The vacuum cup as claimed in any one of claims 1‒3, wherein the vacuum cup lip is formed of a flexible polymeric material.

5. The vacuum cup as claimed in any one of claims 1‒4, wherein said noise mitigation features encircle the vacuum cup lip in a discontinuous manner.

6. The vacuum cup as claimed in any one of claims 1‒5, wherein said vacuum cup includes a flexible bellows portion.

7. The vacuum cup as claimed in any one of claims 1‒6, wherein said vacuum cup is conically shaped. CA 3150291 Date reçue / Received date 2024-09-20 11 8. A vacuum cup for use in a programmable motion device, said vacuum cup comprising an open inlet for coupling to a vacuum source, a vacuum cup lip on a portion of the vacuum cup that is opposite the open inlet, and a vacuum cup open outlet through which a vacuum is provided, said vacuum cup including a plurality of protrusions on an outer surface of the vacuum cup lip, and wherein said plurality of protrusions include at least partially spherical protrusions and said plurality of protrusions are positioned alternate internal ribs on an inner surface.

9. The vacuum cup as claimed in claim 8, wherein the vacuum cup is formed of a flexible polymeric material.

10. The vacuum cup as claimed in claim 8 or claim 9, wherein said plurality of protrusions are formed of a polymeric material.

11. The vacuum cup as claimed in any one of claims 8 – 10, wherein the vacuum cup is formed of a flexible elastomeric material.

12. The vacuum cup as claimed in any one of claims 8 – 11, wherein said plurality of protrusions encircle the vacuum cup open outlet in a discontinuous manner.

13. The vacuum cup as claimed in any one of claims 8‒12, wherein said vacuum cup includes a flexible bellows portion.

14. The vacuum cup as claimed in any one of claims 8‒13, wherein said vacuum cup is conically shaped. CA 3150291 Date reçue / Received date 2024-09-20 12 15. The vacuum cup as claimed in any one of claims 8‒14, wherein the plurality of protrusions provide that the vacuum cup lip includes alternating areas of relatively thin and relatively thicker lip thicknesses.

16. A method of providing a vacuum source in a programmable motion device, said method comprising: coupling the vacuum source to an open inlet of a vacuum cup, said vacuum cup including noise mitigation features on an outer surface of the vacuum cup, wherein said noise mitigation features include protrusions from the vacuum cup on the outer surface of the vacuum cup and said protrusions are positioned alternate internal ribs on an inner surface of the vacuum cup; and providing a vacuum cup open outlet through which a vacuum is provided.

17. The method as claimed in claim 16, wherein said noise mitigation features are formed of a polymeric material.

18. The method as claimed in claim 16 or claim 17, wherein said noise mitigation features are formed of an elastomeric material.

19. The method as claimed in any one of claims 16 – 18, wherein said noise mitigation features encircle the vacuum cup open outlet in a discontinuous manner.

20. The method as claimed in any one of claims 16‒19, wherein said vacuum cup includes a flexible bellows portion.

21. The method as claimed in any one of claims 16‒20, wherein said noise mitigation features alter a resonance of the open outlet of the vacuum cup. CA 3150291 Date reçue / Received date 2024-09-20 13 22. The method as claimed in any one of claims 16‒21, wherein the method further includes damping a resonance of a lip of the vacuum cup while the vacuum is provided through the open outlet.

23. The method as claimed in any one of claims 16‒22, wherein the vacuum has a vacuum pressure of no more than about 50,000 Pascals below atmospheric.

24. A system for providing automated processing of objects, said system comprising a programmable motion device including an end effector that is coupled to a vacuum source, said end effector including a vacuum cup that includes noise mitigation features on an outer surface of the vacuum cup, and wherein said noise mitigation features include protrusions from a vacuum cup lip on the outer surface of the vacuum cup and said protrusions are positioned alternate internal ribs on an inner surface of the vacuum cup.

25. The system as claimed in claim 24, wherein said noise mitigation features encircle a vacuum cup lip in a discontinuous manner.

26. The system as claimed in claims 24 or 25, wherein said vacuum cup includes a flexible bellows portion.

27. The system as claimed in any one of claims 24‒26, wherein the vacuum source provides a maximum air flow rate at the end effector of at least about 100 cubic feet per minute.

28. The system as claimed in any one of claims 24‒27, wherein the vacuum source provides a vacuum pressure at the end effector of no more than about 50,000 Pascals below atmospheric. CA 3150291 Date reçue / Received date 2024-09-20