Common Robotic End Effector for Multi-Geometry Grasping
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Solution Overview
Problem
Current robotic end-effectors are inflexible and costly due to their design specificity, requiring additional active elements or multiple end-effectors for varying part geometries, leading to increased production time, space, and costs in manufacturing environments.
Innovation Solution
A method for designing a common end effector capable of grasping multiple parts with different geometries by determining a grasp set of gripping points through CAD modeling, meshing, quality measure calculation, and feature vector parameterization, allowing for a single optimal grasp configuration across various parts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a specific end effector is designed for each part geometry, then grasping reliability is improved, but device complexity and cost increase
Solution Approach 1:
The patent applies universality by designing a single common end effector structure that can grasp multiple different part geometries. Instead of creating specialized end effectors for each part type, the invention uses one versatile end effector with adjustable gripping points that adapts to various shapes and sizes, thereby reducing device complexity while maintaining grasping reliability through optimized contact point selection.
Solution Approach 2:
The patent employs parameter changes by varying the positions and configurations of gripping points on the common end effector structure. By adjusting which gripping points are activated and their spatial arrangement, the same end effector can accommodate different part geometries, resolving the contradiction between reliability and complexity through dynamic parameter adjustment rather than structural redesign.
2Adaptability or versatility
If multiple end-effectors are provided for different parts, then adaptability is improved, but production space and cost increase
Solution Approach 1:
The patent eliminates the need for multiple end-effectors by implementing a universal common end effector that can handle various part geometries. This single multi-functional device replaces what would otherwise require several specialized end-effectors, significantly reducing the space needed in the production environment while maintaining full adaptability to different part types.
Solution Approach 2:
The patent merges the functionality of multiple specialized end-effectors into one common end effector structure. By combining the grasping capabilities for different part geometries into a single device with multiple selectable gripping points, the invention consolidates what would be separate physical devices into one integrated system, thereby reducing production space requirements.
3Manufacturing precision
If specialized end-effectors are designed for each part, then grasping precision is improved, but manufacturing time and cost increase
Solution Approach 1:
The patent achieves grasping precision for multiple part geometries using a single common end effector design, eliminating the need to design, build, and test multiple specialized end-effectors. The universal structure with its array of gripping points can be precisely configured for different parts through software control, maintaining manufacturing precision while drastically reducing the time and cost associated with creating multiple specialized devices.
Solution Approach 2:
The patent uses computational modeling and simulation to virtually test and optimize the common end effector design for different part geometries before physical manufacturing. By creating digital copies and simulations of various part-end effector interactions, the invention achieves precise grasping configurations without the need for repeated physical prototyping and testing, thereby reducing manufacturing time while maintaining precision.
Data Source
AI summary
The invention relates to a method for determining a grasp set of n gripping points for a common end effector of a robot, said end effector being used for grasping a plurality of parts, each part having its own geometry, the method comprises: (a) providing said plurality of parts in a CAD form; (b) meshing each of said parts; (c) determining for each of said parts all the possible grasps that are capable of holding the respective part by any k-contacts points end effector; (d) calculating a quality measure for each of said determined grasps; (e) calculating an allowable range for said calculated quality measures; (f) for each part, parametrizing each of its grasps that are found to be within said allowable range, by a feature vector; (g) performing a cross-part intersection between said grasps that are found to be within said allowable range, and determining those grasps that are intersected between parts; and (h) from among said intersected grasps, selecting a single grasp having a highest quality measure, said selected grasp is used for grasping said plurality of parts by said end effector.