Articulated Multi-Zone Robot End Effectors for High Moment Loads
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Solution Overview
Problem
Conventional robotic grippers face challenges in securely grasping heavy, porous objects like cardboard boxes due to high moment loads, especially when boxes are long and narrow, and existing solutions struggle to maintain a stable hold during manipulation in multiple orientations.
Innovation Solution
A vacuum-based grasping tool with two movable gripper zones (Zone1 and Zone2) that can articulate and translate relative to each other, employing a mechanical linkage mechanism and suction cups with check valves, allowing for a combination of loading directions to stabilize the box against inertial forces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional robotic grippers are used to grasp heavy, porous objects, then the gripper structure becomes simpler, but the gripper cannot securely hold the object against high moment loads
Solution Approach 1:
The gripper is divided into multiple independent suction zones (first zone and second zone) that can be controlled separately. Each zone has its own suction cups and can be activated independently to provide targeted grasping force on different portions of the object, enabling secure holding without requiring a completely complex overall structure.
Solution Approach 2:
The gripper employs movable articulation joints between zones that allow dynamic reconfiguration of the gripper geometry during operation. This enables the gripper to adapt its configuration based on the object's shape and the applied moment loads, providing secure holds while maintaining relatively simple individual zone structures.
2Force
If the gripper uses a fixed single-zone structure, then the device complexity is reduced, but it cannot counteract high moment loads effectively
Solution Approach 1:
By segmenting the gripper into multiple zones with independent suction control, the system can apply differentiated forces to counteract moment loads. The first and second zones can be activated independently to create opposing moments that balance external loading, thereby increasing moment load capacity without requiring a monolithic complex structure.
Solution Approach 2:
The gripper transitions from a single-plane configuration to a multi-dimensional articulated structure where zones can be positioned at different orientations and distances from the object surface. This spatial distribution of suction zones creates longer moment arms and multiple force vectors, significantly increasing the capacity to counteract high moment loads.
3Adaptability or versatility
If the gripper zones are fixed relative to each other, then the structure is simpler, but it cannot adapt to different object orientations and shapes
Solution Approach 1:
The articulation joints enable the gripper zones to move dynamically relative to each other, allowing the system to adapt its configuration based on object characteristics. The zones can be articulated to different positions and orientations to match various object shapes and grasping requirements, providing high adaptability while keeping individual joint mechanisms relatively simple.
Solution Approach 2:
The articulated multi-zone gripper structure serves multiple functions: it can grasp objects in various orientations, accommodate different object shapes, and adapt to varying moment load conditions. This multi-functionality is achieved through the modular articulation mechanism rather than requiring multiple specialized gripper designs.
4Strength
If the gripper uses large size to increase holding capacity, then the holding strength improves, but the device becomes less flexible and harder to position
Solution Approach 1:
By segmenting the total holding capacity across multiple smaller zones rather than using one large gripper, the system maintains high overall holding strength while preserving the flexibility and maneuverability of smaller individual components. Each zone can be independently positioned and controlled, making the overall system easier to position and adapt to different objects.
Solution Approach 2:
The gripper achieves increased holding capacity not by increasing the size of individual zones but by distributing zones across multiple spatial dimensions and orientations. This multi-dimensional arrangement provides the moment arm leverage needed for strong holding while keeping each zone compact and easy to position through articulated motion.
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 effectively counters high moment loads, enabling secure grasping and manipulation of heavy, porous boxes in various orientations without requiring large gripper sizes, using a self-locking linkage mechanism that conserves power and maintains a stable hold.
Implementation Method 1
A vacuum-based grasping tool with two movable gripper zones (Zone1 and Zone2)... employing a mechanical linkage mechanism and suction cups with check valves
Implementation Method 2
vacuum-based grasping tool... suction cups with check valves, allowing for a combination of loading directions to stabilize the box
Data Source
AI summary
An embodiment includes a system comprising: a first zone of suction apertures coupled to a first distance sensor; a second zone of suction apertures coupled to a second distance sensor; a robotic arm coupled to the first and second zones of suction apertures; wherein: (a) the first zone of suction apertures is arranged in a first plane, and (b) the second zone of suction apertures is arranged in a second plane that is non-coplanar with the first plane. Other embodiments are described herein.