Cooperative Robot End-Effectors for Secure High-Speed Object Handling
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Solution Overview
Problem
Existing end-effectors for robotic systems face challenges in securely grasping and moving a wide variety of objects, particularly during rapid movements, due to limitations in vacuum pressure and flexibility, leading to inefficiencies in throughput and the need for manual intervention.
Innovation Solution
A system comprising a first vacuum end-effector and a second non-vacuum end-effector, such as an anthropomorphic end-effector, coordinated by a control system with cameras for object detection, allows for cooperative grasping and movement of objects, adapting to unstable or complex shapes and orientations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If vacuum pressure is used to acquire and secure objects, then objects can be grasped and moved, but the system cannot securely maintain grasp on objects during rapid acceleration and deceleration
Solution Approach 1:
The patent combines multiple end-effectors (vacuum end-effector and non-vacuum end-effector) to work together on the same object. The vacuum end-effector provides initial grasping while the non-vacuum end-effector provides additional support during rapid movements, resolving the contradiction between grasp security and speed by distributing the grasping function across multiple devices with different grasping mechanisms.
2Adaptability or versatility
If a single end-effector is used to handle diverse objects, then device complexity is reduced, but adaptability to different object shapes, sizes, and materials is limited
Solution Approach 1:
The system implements multi-functionality by deploying two different types of end-effectors (vacuum and non-vacuum) that can handle different object characteristics. The vacuum end-effector works well with smooth, non-porous surfaces while the non-vacuum end-effector handles objects unsuitable for vacuum grasping, thereby achieving universal adaptability across diverse object types without requiring a single complex end-effector design.
3Reliability
If manual intervention is used to handle objects that cannot be securely grasped, then grasp security is improved, but productivity decreases
Solution Approach 1:
The system provides self-service by using multiple automated end-effectors to handle objects that would otherwise require manual intervention. The coordinated action between vacuum and non-vacuum end-effectors enables the system to autonomously secure and transport diverse objects, maintaining high productivity while ensuring reliable grasping without human involvement.
4Adaptability or versatility
If vacuum cups with flexible compliant portions are used, then adaptability to object surface variations is improved, but noise increases during positioning
Solution Approach 1:
The patent combines vacuum and non-vacuum end-effectors to share the adaptability function. The non-vacuum end-effector provides stable, quiet support while the vacuum end-effector provides conformal contact with the object surface. This merging allows the system to achieve shape conformity without relying solely on flexible vacuum cups, thereby reducing noise during positioning.
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
Enhances the ability of robotic systems to handle diverse objects efficiently without manual intervention, improving throughput and reducing downtime by utilizing multiple end-effectors in parallel to stabilize and reposition objects effectively.
Implementation Method 1
an end-effector on an articulated arm may include a vacuum cup having a compliant portion
Implementation Method 2
a control system that has at least one camera for detecting movement of the object
Data Source
AI summary
An end-effector system for use with a programmable motion device is disclosed. The end-effector system includes a first end-effector for performing a task of grasping and moving an object from an input area to an output area, the first end-effector including a vacuum cup gripper, a second end-effector for grasping and moving the object to assist the task performed by the first end-effector, said second end-effector including a non-vacuum gripper, and a control system comprising at least one camera for detecting movement of the object associated with the task, the control system directing the second end-effector to contact the object and move in a motion corresponding to the movement of the object associated with the task, and the control system directing the first end-effector for grasping the object and the second end-effector for contacting the object to cooperatively move the object to the output area to complete the task.