Configurable End Effector with Tactile Self-Calibration
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Solution Overview
Problem
Programming the positioning arrangement of end effectors to adapt to the shape of workpiece holders for handling flat and pliable materials is complex, requiring manual input for individual or grouped actuating drive settings.
Innovation Solution
Incorporating a tactile arrangement with buttons that generate tactile information to simplify the adaptation of end effectors to a reference surface, allowing for quick setup and calibration, with the resulting tool configuration stored in a controller for easy programming.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manual programming of positioning arrangement is used to adapt end effector to workpiece holder shape, then adaptability is improved, but device complexity and programming time increase
Solution Approach 1:
The end effector performs self-calibration by automatically comparing its actual position with the reference tool configuration stored in the controller, eliminating the need for complex manual programming while maintaining full adaptability to the workpiece holder shape
Solution Approach 2:
The positioning arrangement uses feedback from position sensors to automatically adjust and adapt to the workpiece holder shape by comparing measured positions with stored reference configurations, reducing programming complexity while preserving adaptability
2Adaptability or versatility
If manual setup and calibration of end effector on reference surface is performed, then adaptability is improved, but loss of time increases
Solution Approach 1:
The reference tool configuration is pre-stored in the controller during manufacturing or initial setup, allowing rapid automatic calibration during operation without time-consuming manual procedures, thus maintaining adaptability while reducing setup time
Solution Approach 2:
The end effector automatically performs calibration by comparing its position with the pre-stored reference tool configuration, eliminating manual setup time while maintaining full adaptability to the reference surface
3Adaptability or versatility
If multiple actuators are individually programmed for workpiece adaptation, then adaptability is improved, but ease of operation deteriorates
Solution Approach 1:
The controller merges the control of multiple actuators into a unified system that automatically adjusts all actuators based on the stored reference tool configuration, maintaining workpiece adaptation capability while dramatically improving programming ease through centralized automatic control
Data Source
Figure 1
Figure 2a)~2d)
Figure 3a)~3b)
AI summary
The invention relates to a method for operating an end-effector arrangement (2) having an end effector (3) and a controller (4), wherein the end effector (3) has a tool arrangement (5) with a plurality of gripping devices (6) for gripping a flat workpiece (7) over the workpiece surface (7a) thereof, wherein the end effector can adopt different tool configurations, and wherein an adjusting arrangement (8) is provided, by means of which the tool configuration is adjustable and thus the relative position of the gripping devices (6) with respect to one another is adaptable to a target workpiece surface. It is proposed that the end effector (3) have a tactile arrangement (10) with a plurality of feelers (11) for producing tactile information, wherein the tactile information is created in a referencing operation and wherein the end effector (3) is adapted, with the gripping devices (6) thereof, to a reference surface (12) on the basis of the tactile information in the referencing operation, and that the resulting tool configuration be stored in the controller (4) as a reference tool configuration.