Articulating Suction Cup Tool Back-Drive Mechanism
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Solution Overview
Problem
Conventional suction cups on robotic end-of-arm tools face challenges in densely packed environments and with items like hinged objects, as they struggle to identify and grasp suitable surfaces, and are prone to disturbance forces that affect grasp stability.
Innovation Solution
A mechanically intelligent end-of-arm tool with a back-drive-capable, articulating head and suction cup system that provides near-zero resistance to disturbance forces, allowing the tool to maintain grasp stability and adapt to various item orientations and surfaces by using a motor and pulley system to enable minimal resistance and damping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional suction cup is used on a robotic end-of-arm tool, then the structure is simple, but the tool cannot effectively adapt to disturbance forces or maintain stable grasp on hinged items
Solution Approach 1:
The suction cup tool incorporates an articulating head with a pivot joint that allows dynamic adjustment of the suction cup orientation. This mechanical flexibility enables the tool to automatically adapt to disturbance forces and maintain stable grasp on various item orientations, including hinged items like books, without requiring complex active control systems
Solution Approach 2:
The tool changes the orientation parameter of the suction cup through the articulating head mechanism. By allowing the suction cup to pivot and adjust its angle relative to the item surface, the system adapts to different grasp conditions and disturbance forces, improving reliability without significantly increasing complexity
2Adaptability or versatility
If the suction cup is made rigid to maintain structural stability, then the tool body is stable, but the tool cannot adapt to various item orientations and surfaces
Solution Approach 1:
The articulating head introduces a controlled degree of freedom to the otherwise rigid tool structure. The pivot joint allows the suction cup to dynamically adjust its orientation while maintaining the overall structural integrity of the tool body, enabling adaptation to various item orientations without compromising structural stability
3Reliability
If the articulating head is designed with high friction to prevent unwanted movement, then the tool maintains position, but the tool cannot back-drive in response to disturbance forces
Solution Approach 1:
The friction parameter of the pivot joint is specifically designed to be low, enabling the articulating head to easily back-drive in response to disturbance forces. This low-friction design allows the suction cup to naturally adjust its orientation when subjected to external forces, maintaining grasp stability through passive adaptation rather than active resistance
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 tool effectively grasps and lifts items in challenging environments by minimizing resistance to disturbance forces, maintaining stability and adaptability, even with items that are difficult to handle, such as hinged objects in dense spaces.
Implementation Method 1
end effectors sometimes employ suction cups for engaging a surface of an item and using a negative or suction pressure or vacuum to grasp the item
Data Source
AI summary
An articulating end-of-arm tool includes back-drive capability. The tool has a cable drive including a vertically oriented capstan head, a pair of idler pulleys, a driven pulley and a tensioner. The driven pulley pivot on a hollow shaft, through which a vacuum channel passes. The vacuum channel extends through the length of the body, including past the vertically oriented motor. The driven pulley is within 10 degrees of perpendicular of the longitudinal axis of the tool.