Adaptive End Effector Surfaces for Grasping Complex Objects
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Solution Overview
Problem
Existing end effectors for robotic systems face challenges in securely grasping objects with unpredictable outer surfaces, such as polyethylene bags, while maintaining quick movement, and often require specific designs for particular objects.
Innovation Solution
The end effector employs a pair of mutually opposing surfaces, at least one of which is movable relative to the other, using various mechanisms like rollers, spheres, or belts, to adapt to the object's surface and securely grasp it during movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional end effectors are designed to securely grasp objects during rapid movement, then object retention is improved, but the speed and ease of selecting and grasping objects from a jumble decreases
Solution Approach 1:
The end effector employs a compliant surface that can dynamically adapt its shape and stiffness to match the object being grasped. This dynamic adaptation allows the surface to quickly conform to various object geometries for rapid selection while maintaining secure grasping during rapid acceleration and deceleration through variable compliance.
Solution Approach 2:
The end effector changes the physical parameters of its grasping surface, specifically its compliance and contact area, based on the object characteristics. By adjusting these parameters, the system can optimize for either rapid object acquisition or secure retention during movement, resolving the contradiction between speed and reliability.
2Device complexity
If traditional end effectors use fixed grasping mechanisms, then device complexity is reduced, but adaptability to objects with unpredictable outer surfaces such as polyethylene bags decreases
Solution Approach 1:
The end effector utilizes a compliant surface made of flexible material that can deform to match the contours of objects with unpredictable surfaces. This flexible shell approach provides adaptability to various object geometries without requiring complex mechanical mechanisms, maintaining relative simplicity while achieving high versatility.
3Ease of manufacture
If end effectors use simple grasping surfaces, then ease of manufacture is improved, but reliability in grasping objects with soft and flexible surfaces that move during grasp attempt decreases
Solution Approach 1:
The compliant surface is manufactured as a flexible shell or film structure that can be produced using standard manufacturing techniques. This approach maintains ease of manufacture while providing the necessary compliance to reliably grasp soft and flexible objects that move during the grasping process.
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
The solution allows for consistent and reliable grasping of objects with complex surfaces, enabling rapid and secure transport, even with unpredictable outer surfaces like polyethylene bags.
Implementation Method 1
attraction features like suction cups or electrostatic charges
Implementation Method 2
attraction features like suction cups or electrostatic charges
Data Source
AI summary
In accordance with an embodiment, the invention provides an end effector for use with a programmable motion device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces being movable with respect to an end effector support structure for supporting the at least one of the pair of mutually opposing surfaces.