End effector, programmable motion device and method of operating a programmable motion device

Abstract

A tip end effector of a programmable motion device for use with a vacuum source is disclosed. The tip end effector includes a tip end effector attachment portion for attaching the tip end effector to the programmable motion device, the tip end effector attachment portion including a vacuum channel coupled to the vacuum source; a contact portion of the tip end effector for contacting an object acquired by the contact portion of the tip end effector; a flexible intermediate section including a contact tip of the flexible intermediate portion proximate the contact portion of the tip end effector, the flexible intermediate section of the tip end effector intermediate the tip end effector attachment portion and the contact portion of the tip end effector, the flexible intermediate section including a bellows portion extending radially outward from the vacuum channel; and a bellows insert extending into the flexible intermediate section.

Description

[0001] priority

[0002] This application claims priority to U.S. patent application No. 62 / 970,208, filed on February 5, 2020, the disclosure of which is incorporated herein by reference in its entirety. Background Art

[0003] The present invention relates generally to programmable motion systems and, in particular, to an end effector for a programmable motion device (eg, a robotic system) for use in an object handling system such as an object sorting system.

[0004] The end effector of a robotic system can be used, for example, in certain applications to select and grasp an object and then very quickly move the acquired object to a new location. The end effector should be designed to quickly and easily select and grasp an object from a clutter of different objects and should be designed to securely hold the object during movement. Certain end effectors, when used with different objects of varying physical sizes, weights, and materials, may have limitations in how securely the end effector can grasp the acquired object and maintain its grip on the object during rapid movement, particularly rapid acceleration and deceleration (angular and linear).

[0005] Many end effectors employ vacuum pressure to acquire and secure an object for transport and / or subsequent manipulation by an articulated arm. Other techniques for acquiring and securing an object involve electrostatic attraction, magnetic attraction, needles for penetrating objects such as fabric, fingers that squeeze the object, hooks that engage and lift protruding features of the object, and collets that expand into openings in the object, among other techniques.

[0006] In applications where vacuum pressure is used to acquire and secure an object, the end effector on the articulated arm may include a vacuum cup having a compliant portion, such as a bellows portion, that contacts the object to be grasped. The compliant portion may be formed from a polymer or elastomeric material that is flexible enough to allow it to change shape to accommodate variations in the object's surface structure and the varying physical relationship between the articulated arm and the object, such as varying angles of approach to the object. This flexibility further allows the vacuum cup to conform to the object's shape or wrap around its corners to create an adequate seal for acquiring and securing the object.

[0007] However, when a good seal is not formed between the flexible vacuum cup and the object, or when airflow within the end effector results in very noisy airflow, a significant amount of noise can sometimes be generated, and the noise level may exceed safe limits when personnel are near the programmable motion device. However, other types of end effectors, including vacuum cups with less flexible compliant portions (in addition to those using electrostatic attraction, magnetic attraction, needles for penetrating objects such as fabric, fingers for squeezing objects, hooks for engaging and lifting protruding features of an object, and collets that expand into openings in an object), are less effective at acquiring and moving various objects.

[0008] Therefore, there remains a need in programmable motion systems for end effector systems that can select and grasp any one of a variety of objects and then move the acquired object to a new location very quickly while not generating unacceptable noise levels. Summary of the Invention

[0009] According to one aspect, the present invention provides an end effector for a programmable motion device for use with a vacuum source. The end effector comprises: an end effector attachment portion for attaching the end effector to the programmable motion device, the end effector attachment portion including a vacuum channel coupled to the vacuum source; a contact portion of the end effector for contacting an object captured by the contact portion of the end effector; a flexible midsection including a contact tip of the flexible midsection proximate the contact portion of the end effector, the flexible midsection intermediate the end effector attachment portion and the contact portion of the end effector, the flexible midsection including a bellows portion extending radially outward from the vacuum channel; and a bellows insert extending into the flexible midsection a sufficient distance to inhibit substantial airflow from entering the bellows portion without significantly inhibiting freedom of movement of the flexible midsection.

[0010] According to another aspect, the present invention provides a programmable motion device for use with a vacuum source. The programmable motion device includes an end effector, the end effector including: an end effector attachment portion for attaching the end effector to the programmable motion device, the end effector attachment portion including a vacuum channel coupled to the vacuum source; a contact portion of the end effector for contacting an object captured by the contact portion of the end effector; a flexible intermediate portion including a contact end of the flexible intermediate portion proximate the contact portion of the end effector, the flexible intermediate portion being intermediate the end effector attachment portion and the contact portion of the end effector, the flexible intermediate portion including a bellows portion extending radially outward from the vacuum channel; and a bellows insert extending into the flexible intermediate portion to disrupt any resonance of moving air within the bellows portion.

[0011] According to yet another aspect, the present invention provides a method of operating a programmable motion device having a vacuum source. The method comprises providing an end effector attachment portion for attaching an end effector to the programmable motion device, the end effector attachment portion including a vacuum channel coupled to the vacuum source; providing a contact portion of the end effector for contacting an object captured by the contact portion of the end effector; providing a flexible midsection of the end effector intermediate the end effector attachment portion and the contact portion of the end effector, the flexible midsection including a bellows portion extending radially outward from the vacuum channel; providing a bellows insert extending into the flexible midsection; and disrupting any resonance of moving air within the bellows portion. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0013] Figure 1 An illustrative diagrammatic view showing a programmable motion system having an end effector according to an aspect of the present invention;

[0014] Figure 2 Shown can be used for Figure 1 an illustrative diagrammatic partial cutaway view of an end effector in a system;

[0015] Figure 3 Show Figure 2 an illustrative sectional view of a portion of an end effector;

[0016] Figure 4 Show Figure 2 An illustrative diagrammatic side view of relevant component parts of an end effector;

[0017] Figure 5 Shown for Figure 1 an illustrative diagrammatic partial cutaway view of an end effector in a system;

[0018] Figure 6 Show Figure 5 An illustrative diagrammatic partial side view of relevant component parts of an end effector;

[0019] Figure 7 Show Figure 5 an illustrative diagrammatic partially exploded view of an end effector;

[0020] Figure 8 Show Figure 5 an illustrative diagrammatic partial side view of relevant component parts of an end effector showing an attachment unit;

[0021] Figure 9 Show Figure 5 an illustrative diagrammatic center cutaway view of an end effector;

[0022] Figure 10 An illustrative diagrammatic central cross-sectional view of an end effector according to another aspect of the present invention is shown, the central cross-sectional view being similar to the Figure 9 The central cross-sectional view is similar;

[0023] Figure 11 showing an illustrative diagrammatic exploded view of an end effector according to yet another aspect of the present invention, the end effector including a bellows insert including a plurality of position securing features;

[0024] Figure 12 Show Figure 11 an illustrative diagrammatic exploded partial cutaway view of an end effector of; and

[0025] Figure 13 Show Figure 11 An illustrative diagrammatic partial side cutaway view of an end effector.

[0026] The drawings are shown for illustrative purposes only. DETAILED DESCRIPTION

[0027] The present invention generally relates to vacuum end effectors on programmable motion devices. Figure 1A programmable motion device 10 is shown including a base 12, a base portion 14, and articulated arm portions 16 and 18, as well as a vacuum attachment section 20 and an end effector 22. High flow vacuum is provided from a high vacuum source 26 via a vacuum hose 24. Under the control of one or more computer processing systems 100, the programmable motion device 10 can be used to grasp and move various objects 28, 30 using the high flow vacuum provided at the end effector 22.

[0028] In high airflow vacuum applications, a vacuum is provided having a high airflow, for example, an airflow of at least about 100 cubic feet per minute, and a vacuum pressure at the end effector of no more than about 100,000 Pascals below atmospheric pressure, or no more than 85,000 Pascals below atmospheric pressure, or no more than 65,000 Pascals below atmospheric pressure. Applicants have discovered that when such a high airflow vacuum is provided, the vacuum can cause a particular resonance of the high airflow within the end effector, thereby producing a loud (sometimes whistling) noise.

[0029] Applicants have also discovered that for certain combinations of air velocity and cavity geometry, the air moving through the suction cup, and particularly through the bellows cavity, resonates. Once the bellows, cup shape, and collar specifications have been selected for a desired application, modifying the vacuum cup assembly is undesirable. Therefore, there is a need to address bellows resonance for certain vacuum cup assemblies and air velocities.

[0030] A high flow vacuum can be provided, for example, by a blower, with a vacuum pressure at the end effector of no more than about 100,000 Pascals below atmospheric pressure, or no more than 85,000 Pascals below atmospheric pressure, or no more than 65,000 Pascals below atmospheric pressure (e.g., about 50,000 Pascals below atmospheric pressure or 7.25 psi). For example, the vacuum cup of the end effector can have an internal vacuum passage dimension (e.g., diameter, if circular) of about 0.5 inches to about 1.5 inches at the narrowest portion of the vacuum passage at the end effector. According to various aspects, the cross-sectional shape of the components of the end effector need not be circular, but can be polygonal, including square or triangular.

[0031] refer to Figure 2, it can be seen that the internal vacuum passage 32 includes several components, each having a potentially different inner dimension. In particular, the end effector 22 includes an attachment portion 34 for attaching to the programmable motion device 10, the attachment portion 34 including an angled, large inner dimension portion 36 and a vertical, large inner dimension segment 38. A collar 40 is attached to the attachment portion 34 and includes inner dimension segments 42, 44. A flexible bellows 46, formed, for example, of a compliant elastic material, has a varying inner dimension portion 48 forming the bellows and a vertical inner dimension portion 50. A vacuum cup 52 is attached to the bellows and has a vertical inner dimension portion 54 and an enlarged inner dimension leading to a cup lip 56 that provides an opening at its underside 58 for the end effector 22.

[0032] Applicants have found that when the smallest inner dimension portions on either side of the flexible bellows portion (e.g. Figure 2 When the end effectors 44, 50, 54) are aligned or within plus or minus 10% of each other's size, loud noise may be generated when using a high flow vacuum source. Figure 3 The internal vacuum passage 32 is shown (at Figure 2 4 and 5. A cutaway portion of one side of the bellows 46 and collar 40 is shown, illustrating portions of the bellows 46 and collar 40. As a high flow vacuum is drawn (diagrammatically shown at 60), some of the air flow will break off at the trailing edge of the surface 50 and be directed toward the underside of the collar (diagrammatically shown at 62), where it may be swept away in a circular pattern (diagrammatically shown at 64), passing through the fast-moving air shown at 62. This may cause additional vortices (diagrammatically shown at 66 and 68) and may cause oscillations to occur within the bellows 46 (diagrammatically shown at 70), either or all of which may result in a significant amount of undesirable noise during high flow vacuum use.

[0033] The fundamental challenge of high flow vacuum systems is to achieve a high volume of airflow at the contact portion of the end effector while allowing the end effector to have flexibility in contacting and grasping objects without significant accompanying noise. Figure 4 For example, the size of the vacuum channel may decrease from the contact portion 152 to the flexible middle portion 146 as shown. Figure 4 The middle dimension A is reduced to dimension B. The smaller dimension B (relative to dimension A) helps to create a high airflow vacuum at the contact portion 152. The flexible middle portion 146 (e.g., a bellows) provides flexibility in adapting to variations in the contact surface of the object and the contact experience that the end effector may experience. Figure 4 , the attachment portion 139 (eg, attachment collar and / or attachment unit) having the smallest inner dimension C increases in inner dimension to D. The flexible intermediate portion 146 is located between the smaller dimension B of the contact portion 152 and the smaller dimension C of the attachment portion 139 .

[0034] like Figure 4 As shown in FIG. B, a narrow inner dimension vacuum channel is maintained at the contact end of the flexible mid-section to provide a high flow vacuum, with the vacuum channel widening from dimension A at the contact surface 158 of the contact portion 152 (e.g., a vacuum cup). The contact portion can additionally provide some flexibility, but there are challenges in maintaining a high flow vacuum through the flexible mid-section without an accompanying high level of noise.

[0035] According to various aspects, the present invention provides a bellows insert that extends into the flexible mid-section a sufficient distance to inhibit substantial airflow into the bellows section without significantly inhibiting the freedom of movement of the flexible mid-section. According to further specific aspects, the bellows insert extends into the flexible mid-section so as to interfere with any resonance of the moving air within the bellows section. According to further aspects and with reference to Figure 9 and Figure 10 , the minimum internal dimension of the end effector attachment part is APi d The minimum internal dimension of the contact end of the flexible middle part is CEi d ; and the value AP id and CE id According to another aspect, when the end effector attachment portion has a minimum inner dimension APi d , the bellows insert has a minimum internal dimension BIi d ; and the value AP id and B.I. id When the BI is within 15% or 10% of each other, the end effector system may produce audible noise. For example, if the BI id Within 15% of the APid, then a bellows insert according to an aspect of the present invention may be used. Surprisingly, using a design according to various aspects of the present invention results in a reduction in the noise generated by the compliant vacuum cup when used in such high airflow applications.

[0036] refer to Figure 5 According to certain aspects, the present invention provides an end effector 122 and an end effector 122 replacing an end effector 22 in a device including Figure 1The end effector 122 provides a vacuum channel 132, which is provided in part by an attachment unit 134 having inner dimensions 136 and 138, a collar 146 having inner dimensions 142 and 144, a bellows 146 having a varying inner dimension 148, and a vacuum cup 156. The end effector 122 also includes a bellows insert 180 having an inner dimension 182. According to various aspects of the present invention, the presence of the bellows does not significantly inhibit the movement of the flexible bellows (e.g., restricting shape changes by at least 10%, 20%, 50%, or 75%).

[0037] refer to Figure 6 As a high airflow vacuum is drawn (diagrammatically shown at 160), very little air can be directed toward the underside of the collar 140. While some of the air within the bellows may form small vortices (diagrammatically shown at 166, 168) and some of the air may form small oscillations (diagrammatically shown at 170), any movement of the air may generally be non-uniform (diagrammatically shown at 172). Most importantly, the velocity of the air within the bellows can be greatly reduced, and large oscillations of the air can be reduced or eliminated, thereby utilizing Figure 1 The programmable motion device 10 (wherein end effector 122 replaces end effector 22 ) significantly reduces unwanted noise during use of a high flow vacuum.

[0038] Figure 7 An exploded view of the combined attachment unit 134 and collar 140, the flexible mid-section 146 including the vacuum cup 152, and the bellows insert 180 is shown. Further References Figure 8 , the inner dimension 144 of the collar 140 and the inner dimension 150 of the flexible middle portion 146 can be aligned or closely aligned. Applicants have found that in this arrangement, under certain conditions using high flow vacuum, a significant amount of undesirable noise may be generated without the bellows insert 180. Figure 7 and Figure 8 As shown, the bellows insert 180 includes a head portion on the protruding end of the bellows insert that extends into the bellows on the bellows insert extension 186 but does not negatively impact the substantial movement of the flexible mid-section 146 .

[0039] refer to Figure 9 , the figure shows the attachment ring 140 (from Figure 5 、 Figure 7 and Figure 8 The attachment unit 134 extends) and both sides of the flexible middle portion 146, including the vacuum cup 152 and the bellows insert 180. Referring again to Figure 8, the inner dimension portion 144 of the collar 140 and the inner dimension portion 150 of the flexible middle portion 146 can be aligned or closely aligned. By using the bellows insert 180, very little air will break up on the trailing edge of the inner surface 182 of the bellows insert 180 and be directed toward the underside of the attachment collar 140. While some of the air within the bellows may form small vortices (diagrammatically shown at 166, 168), any movement of the air is generally likely to be uneven (diagrammatically shown at 172). Most importantly, the rate of movement of the air within the bellows will be greatly reduced, and large oscillations of the air will be reduced or eliminated, thereby significantly reducing undesirable noise during high flow vacuum use, as described above. A protrusion 184 (or securing feature) may be provided to help hold the bellows insert in place.

[0040] like Figure 9 As further shown, the attachment portion (eg, collar 144) will have a minimum inner dimension (AP id ), the contact end of the flexible middle portion 146 will have a minimum inner dimension (CE id ), and the inner surface 182 of the bellows insert 180 will have a minimum inner dimension (BI id ). Minimum internal dimensions of the attached part (AP id ) and the minimum internal dimensions of the contact end of the flexible middle part (CE id) The inner dimensions of the accessory part may not differ from each other by more than 15%, and preferably may not differ from each other by more than 10%. id ) and the minimum internal dimensions of the bellows insert (BI id ) may not differ from each other in dimensions such as diameter by more than 15%, and preferably may not differ from each other in dimensions such as diameter by more than 10%, the end effector system may generate audible noise. Again, using a design according to one aspect of the present invention can reduce the noise generated in the compliant end effector when the compliant end effector is used in such high airflow applications.

[0041] According to another aspect of the present invention and with reference to Figure 10 , a contact end of the flexible intermediate portion 246 may be provided, the contact end having an inner dimension (AP) greater than that of the attachment portion id )'s minimum internal dimensions (CE id ), so that the minimum internal dimension (BI) of the inner surface 282 of the bellows insert 280 id ) and the minimum internal dimensions of the attached part (AP id) are aligned or nearly aligned (producing the whistle in the absence of the bellows insert according to one aspect of the present invention). Again, the minimum inner dimension of the attachment portion (AP id ) and the minimum internal dimensions of the contact end of the flexible middle part (CE id ) may differ from each other in size (e.g. diameter) by no more than 15%, and preferably may differ from each other in size (e.g. diameter) by no more than 10%. In addition, the minimum inner dimension (AP) of the accessory part id ) and the minimum internal dimension (BI) of the inner surface 282 of the bellows insert 280 id ) can differ from each other in size (e.g., diameter) by no more than 15%, and preferably can differ from each other in size (e.g., diameter) by no more than 10%. While some of the air within the bellows may form small vortices (diagrammatically shown at 266, 268), any movement of the air is generally likely to be uneven. Most importantly, the rate of movement of the air within the bellows will be greatly reduced, and large oscillations of the air will be reduced or eliminated, thereby substantially reducing undesirable noise during high-flow vacuum use as described above.

[0042] According to yet another embodiment, the present invention provides an end effector 322 and a Figures 11 to 13 The end effector 322 of Figure 1 The end effector 322 provides a vacuum channel 332, which is provided in part by an attachment segment 339 comprising an attachment unit 334 having inner dimensions 336 and 338, and a collar 340 having inner dimensions 342 and 344. The end effector 322 also includes a flexible midsection 346 comprising a bellows having a varying inner dimension 348, and a contact segment 356 comprising a vacuum cup. The end effector 322 also includes a bellows insert 380 having an inner dimension 382. The bellows insert 380 includes a head portion 384 (optionally to facilitate retention) on a protruding end of the bellows insert, which extends into the bellows on a bellows insert extension 386 without negatively impacting the substantial movement of the flexible midsection 346. Additionally, the bellows insert includes a shoulder engagement feature 388 that secures to a shoulder 390 of the flexible mid-section 346, as described below with reference to FIG. Figure 12 and Figure 13 discussed.

[0043] Figure 12 An exploded view of the combined attachment unit 334 and collar 340, the flexible mid-section 346 including the vacuum cup 352, and the bellows insert 380 is shown. Further References Figure 13, the inner dimension 344 of the collar 340 and the inner dimension 350 of the flexible midsection 346 can be aligned or closely aligned. Applicants have discovered that in this arrangement, under certain conditions using high flow vacuum, a significant amount of undesirable noise can be generated without the bellows insert 380. The shoulder engagement feature 388 is secured to the shoulder 390 of the flexible midsection 346. The shoulder 390 and the outer surface of the bellows insert 380 can also be used to secure the vacuum cup 352 to the flexible midsection 346.

[0044] Those skilled in the art will appreciate that many modifications and variations can be made to the above-disclosed embodiments without departing from the spirit and scope of the invention.

Claims

1. An end effector of a programmable motion device for use with a vacuum source, the end effector comprising: an end effector attachment portion for attaching the end effector to the programmable motion device, the end effector attachment portion including a vacuum channel coupled to the vacuum source; a contact portion of the end effector, the contact portion being configured to contact an object captured by the contact portion of the end effector; a flexible intermediate portion, the flexible intermediate portion including a contact end of the flexible intermediate portion proximate the contact portion of the end effector, the flexible intermediate portion of the end effector being intermediate the end effector attachment portion and the contact portion of the end effector, the flexible intermediate portion including a bellows portion extending radially outward from the vacuum passage; as well as a bellows insert including a head portion disposed on a protruding end of the bellows insert proximate the end effector attachment portion, the head portion extending radially outwardly into the bellows portion, wherein the bellows insert extends a distance into the flexible mid-section to inhibit air from entering the bellows section, wherein the bellows insert does not inhibit freedom of movement of the flexible mid-section, and Wherein the head portion of the bellows insert is generally annular and includes a top surface and a bottom surface that extend radially outwardly toward each other so as to merge at a radially outermost edge of the head portion.

2. The end effector of claim 1, wherein the minimum inner dimension of the end effector attachment portion is APi d The minimum inner dimension of the contact end of the flexible intermediate portion is CEi d ; and its median AP id and CE id Within 15% of each other.

3. The end effector according to claim 2, wherein the value AP id and CP id Within 10% of each other.

4. The end effector of claim 1 , wherein the minimum inner dimension of the end effector attachment portion is APi d , the minimum internal dimension of the bellows insert is BIi d ; and its median AP id and B.I. id Within 15% of each other.

5. The end effector of claim 4, wherein the value AP id and B.I. id Within 10% of each other.

6. The end effector of claim 1, wherein the end effector further comprises an attachment portion intermediate the attachment collar and the programmable motion device.

7. The end effector of claim 1, wherein the bellows insert includes a shoulder engagement feature that secures against a shoulder of the flexible mid-section.

8. The end effector of claim 1, wherein the flexible mid-section is formed of a polymer material.

9. The end effector of claim 1, wherein the contact portion is formed of a flexible polymer material.

10. A programmable motion device for use with a vacuum source, the programmable motion device comprising an end effector, the end effector comprising: an end effector attachment portion for attaching the end effector to the programmable motion device, the end effector attachment portion including a vacuum channel coupled to the vacuum source; a contact portion of the end effector, the contact portion being configured to contact an object captured by the contact portion of the end effector; a flexible intermediate portion, the flexible intermediate portion including a contact end of the flexible intermediate portion proximate the contact portion of the end effector, the flexible intermediate portion being intermediate the end effector attachment portion and the contact portion of the end effector, the flexible intermediate portion including a bellows portion extending radially outward from the vacuum passage; as well as a bellows insert including a head portion disposed on a protruding end of the bellows insert proximate the end effector attachment portion, the head portion extending radially outwardly into the bellows portion, wherein the bellows insert extends into the flexible mid-portion thereby disrupting any resonance of moving air within the bellows portion, wherein a maximum outer dimension of the head portion is greater than a minimum inner dimension of the end effector attachment portion, and Wherein the head portion of the bellows insert is generally annular and includes a top surface and a bottom surface that extend radially outwardly toward each other so as to merge at a radially outermost edge of the head portion.

11. The programmable motion device of claim 10, wherein the bellows insert extends into the flexible mid-section a distance to inhibit air from entering the bellows section without inhibiting freedom of movement of the flexible mid-section.

12. The programmable motion device of claim 10, wherein the minimum inner dimension of the end effector attachment portion is APi d The minimum inner dimension of the contact end of the flexible intermediate portion is CEi d ; and its median AP id and CE id Within 10% of each other.

13. The programmable motion device of claim 10, wherein the minimum inner dimension of the end effector attachment portion is APi d , the minimum internal dimension of the bellows insert is BIi d ; and its median AP id and B.I. id Within 10% of each other.

14. The programmable motion device of claim 10, wherein the bellows insert includes a shoulder engagement feature that secures against a shoulder of the flexible mid-section.

15. The programmable motion device of claim 10, wherein the flexible middle portion is formed of a polymer material.

16. The programmable motion device of claim 10, wherein the contact portion is formed of a flexible polymer material.

17. The programmable motion device of claim 10, wherein the vacuum source provides an airflow rate of at least about 100 cubic feet per minute at the end effector.

18. The programmable motion device of claim 10, wherein the vacuum source provides a vacuum pressure of no more than about 100,000 Pascals below atmospheric pressure at the end effector.

19. The programmable motion device of claim 10, wherein the vacuum source provides a vacuum pressure of no more than about 65,000 Pascals below atmospheric pressure at the end effector.

20. A method of operating a programmable motion device having a vacuum source, the method comprising: providing an end effector attachment portion for attaching an end effector to the programmable motion device, the end effector attachment portion including a vacuum channel coupled to the vacuum source; providing a contact portion of the end effector, the contact portion being configured to contact an object captured by the contact portion of the end effector; providing a flexible intermediate portion of the end effector intermediate the end effector attachment portion and the contact portion of the end effector, the flexible intermediate portion including a bellows portion extending radially outward from the vacuum passage; providing a bellows insert including a head portion disposed on a protruding end of the bellows insert proximate the end effector attachment portion, the head portion extending radially outwardly into the bellows portion, wherein the bellows insert extends a distance into the flexible mid-section to inhibit air from entering the bellows portion to thereby disrupt any resonance of moving air within the bellows portion, wherein the bellows insert does not inhibit freedom of movement of the flexible mid-section, and Wherein the head portion of the bellows insert is generally annular and includes a top surface and a bottom surface that extend radially outwardly toward each other so as to merge at a radially outermost edge of the head portion.

21. The method of claim 20, wherein the minimum inner dimension of the end effector attachment portion is APi d The minimum inner dimension of the contact end of the flexible middle part is CEi d ; and its median AP id and CE id Within 10% of each other.

22. The method of claim 20, wherein the minimum inner dimension of the end effector attachment portion is APi d , the minimum internal dimension of the bellows insert is BIi d ; and its median AP id and B.I. id Within 10% of each other.

23. The method of claim 20, wherein the bellows insert includes a shoulder engagement feature that secures against a shoulder of the flexible mid-section.

24. The method of claim 20, wherein the vacuum source provides an air flow rate of at least about 100 cubic feet per minute at the end effector.

25. The method of claim 20, wherein the vacuum source provides a vacuum pressure of no more than about 100,000 Pascals below atmospheric pressure at the end effector.

26. The method of claim 20, wherein the vacuum source provides a vacuum pressure of no more than about 50,000 Pascals below atmospheric pressure at the end effector.

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