Compliant Robot End Effector for Multi-Robot Misalignment Relief
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Solution Overview
Problem
Coordinating the actions of two or more robots to manipulate an object requires complex sensors, feedback circuits, and programming, which can lead to undesired stresses and damage due to mismatches in position or movement.
Innovation Solution
A compliant end effector system for robots, featuring a component support member with side and top surfaces, and a clamping system with first and second clamp members, controlled by a controller to engage and release the clamps, allowing the component to move freely during manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If two or more robots are used to hold and manipulate an object, then the manipulation capability is improved, but the coordination complexity increases and positional mismatches may cause damage
Solution Approach 1:
The end effector changes its clamping state dynamically - clamped during positioning to prevent damage, and released during manipulation to allow freedom of movement. This parameter change resolves the contradiction by adapting the constraint level to the operational phase.
Solution Approach 2:
The system transitions from a static rigid connection to a dynamic compliant connection. The end effector can switch between providing rigid support (when clamped) and compliant support (when released), allowing the system to adapt to different operational requirements without increasing coordination complexity.
2Adaptability or versatility
If two or more robots are used to hold an object, then the manipulation capability is improved, but stress and damage risk increase due to position mismatches
Solution Approach 1:
The system applies protective clamping before manipulation begins, securing the object firmly during positioning. This beforehand protective action prevents damage from potential position mismatches during the critical positioning phase, while allowing stress relief during manipulation when clamps are released.
Solution Approach 2:
The clamping force parameter is changed dynamically - high during positioning to prevent damage, and zero during manipulation to allow stress-free movement. This parameter modulation eliminates the harmful stress effect while maintaining manipulation capability.
3Measurement precision
If sensors and feedback circuits are added to coordinate robots, then positioning accuracy is improved, but system complexity and cost increase
Solution Approach 1:
The patent extracts the coordination complexity from the robot control system and places it in the mechanical end effector structure itself. The clamping mechanism provides passive compliance that automatically accommodates position variations without requiring sensors or feedback circuits in the robot control system.
Solution Approach 2:
The end effector self-adjusts to position variations through its compliant mechanical design. The clamps can release and re-engage to accommodate positioning tolerances, allowing the system to self-correct without external sensing or complex control algorithms.
Data Source
AI summary
A compliant end effector includes a robot mounting bracket and a component support member. The component support member includes a side surface and a top surface. A component clamping system includes a first clamp member operable to move toward the side surface of the component support member and a second clamp member operable to move toward the top surface of the component support member. A controller is operatively connected to the clamping system. The controller is configured to engage the first and second clamp members as the component gripping and manipulating system is in a set position and release the first clamp member and the second clamp member allowing a portion of a component held by the component clamping system to move with one or more degrees of freedom when the component gripping and manipulating system is moving to the set position.