Adaptive Gripper Apparatus for Unstructured Logistics
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Solution Overview
Problem
Object manipulation in unstructured environments, such as warehouses and logistics facilities, is challenging due to varying object form factors, weights, shapes, and sizes, leading to high costs and infrastructure requirements for multiple robots and high idle times with conventional gripper systems.
Innovation Solution
A gripper apparatus with a mounting adaptor, multiple actuators, clamp supporting members, grasping clamps, sliding friction pads, and sensors that estimate grasping points and adjust clamp expansion/contraction based on object information for secure grasping and handling of diverse objects using both parallel and pneumatic grasping mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple robots are used to handle specific tasks, then task specialization is improved, but floor area and infrastructure requirements increase
Solution Approach 1:
The gripper apparatus is designed with multiple independently controllable fingers that can be configured to handle different object types, sizes, and shapes. This multi-functional capability allows a single robot equipped with this gripper to perform multiple tasks that would traditionally require multiple specialized robots, thereby reducing floor area and infrastructure requirements while maintaining task specialization.
2Device complexity
If conventional gripper systems are used for object manipulation, then simplicity is maintained, but idle time increases reducing productivity
Solution Approach 1:
The gripper apparatus employs dynamically controllable fingers with independent actuation for each finger. This dynamic capability allows the gripper to rapidly adapt its configuration to match the specific geometry of different objects, reducing repositioning time and idle time between tasks. The system maintains relative simplicity through modular actuation mechanisms while achieving high productivity through rapid reconfiguration.
3Adaptability or versatility
If a single robot handles different categories of items by changing end effector, then versatility is improved, but idle time for reconfiguration increases
Solution Approach 1:
The end effector is segmented into multiple independently controllable fingers rather than requiring complete replacement of the end effector for different item categories. This segmentation allows partial reconfiguration by adjusting only the necessary fingers while keeping others in position, significantly reducing reconfiguration idle time while maintaining versatility to handle different item categories.
4Measurement precision
If gripper apparatus with multiple actuators and sensors is used, then grasping precision is improved, but device complexity increases
Solution Approach 1:
Sensors and actuators are strategically placed at specific locations where they are most needed - such as at finger tips for grasping force sensing and at joint positions for angle measurement. This localized placement provides high grasping precision for critical measurements while avoiding unnecessary sensors and actuators in non-critical areas, thereby managing device complexity effectively.
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 gripper apparatus efficiently handles multiple objects of different sizes and shapes with reduced idle time and infrastructure needs, enhancing productivity by using adaptive grasping mechanisms that ensure firm and secure object manipulation.
Implementation Method 1
the suction cup is triggered to firmly grasp the at least one object based on the captured information
Implementation Method 2
the at least one sliding friction pad is actuated to slide from one position to another position until center of gravity is determined, based on sensory information received from the at least one sensor array pertaining to force applied on the at least one object
Data Source
AI summary
Object manipulation in warehouses and logistics facilities is a challenging task because of the unstructured environment. The unstructured environment can have items/objects with different form factors, weight, shape, and size. Traditionally, multiple robots have been used to handle for specific task to be performed by an individual robot which requires high floor. This leads to higher cost and infrastructure. Embodiments of the present disclosure provide a gripper apparatus that addresses a single gripper design handling multiple parcels, wherein the apparatus consists of ‘m’ fingers parallel to each other and can be independently controlled through actuators, each finger has a force sensors feedback and also actuators which are controlled with force. Each finger comprises a linear slider for actuation for gripping objects and wherein bottom fingers are moved to provide enough gravity support. Further, apparatus comprises bellows attached to each finger end for grasping object using pneumatic grasping mechanism.