Deformable End Effector Linkage for Irregular Object Suction
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Solution Overview
Problem
Conventional suction-based end effectors are ineffective for moving items without a single planar surface, items with porous surfaces, or those with complex and irregular shapes, as they struggle to maintain suction force and may damage the items during manipulation.
Innovation Solution
An end effector with a deformable plate and linkage system that applies impactive force by deforming the plate to align the sealing surface with the item's geometry, combining impactive and astrictive forces for efficient handling of complex shapes without losing suction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional suction-based end effectors are used, then items with planar surfaces can be held, but items without planar surfaces, porous surfaces, or complex shapes cannot be effectively manipulated
Solution Approach 1:
The end effector employs a deformable plate that can dynamically change its geometry to match the contours of different items. The plate transitions from a flat state to a deformed state that conforms to complex surfaces, enabling reliable suction adhesion across varied geometries including porous and irregular shapes
Solution Approach 2:
The system changes the physical state and geometry of the deformable plate through controlled deformation. By altering the plate's shape parameters to match the item's surface geometry, the end effector achieves effective sealing and suction adhesion on items that would otherwise be incompatible with conventional flat suction cups
2Reliability
If suction force is applied to items with complex shapes, then adhesion may be achieved, but the items may be damaged during manipulation
Solution Approach 1:
The deformable plate provides locally adapted contact surfaces that match the specific geometry of the item being handled. This localized conformality distributes suction forces evenly across the contact area, preventing concentrated stress points that could damage delicate or irregularly shaped items
Solution Approach 2:
The dynamic deformation capability allows the plate to adapt its compliance to match the item's structural characteristics. Softer or more flexible plate deformation patterns can be used for delicate items, while more rigid deformation patterns work for sturdier items, optimizing both adhesion and damage prevention
3Productivity
If suction-based end effectors are used, then simple items can be moved, but items with reduced or restricted accessibility cannot be effectively reached or manipulated
Solution Approach 1:
The end effector system separates the suction function from the positioning function. The deformable plate handles the complex adhesion task locally at the item contact point, while the robotic manipulator handles positioning. This segmentation allows the system to reach difficult-to-access items without compromising manipulation capability
Solution Approach 2:
The deformable plate's ability to change its geometric parameters enables it to access and adhere to items in restricted spaces. By deforming into compact or elongated shapes as needed, the plate can reach items that would be inaccessible to conventional rigid end effectors
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
Enables the manipulation of items with complex and irregular shapes at higher velocities and accelerations without suction loss or damage, improving accessibility and seal quality, especially for items with reduced or restricted accessibility.
Implementation Method 1
applying force(s) to the linkage system causes the deformable plate to deform
Implementation Method 2
deforming the deformable plate causes the end effector to apply an impactive force to an item
Implementation Method 3
Without a single planar surface... struggle to maintain suction force
Data Source
AI summary
Aspects described herein include an end effector capable of prehending items using impactive and astrictive forces. The end effector includes an interface system having a deformable mounting plate and a pliable body member attached to the mounting plate. The end effector further includes a linkage system between a plurality of actuators and the interface system. The linkage system connects to lateral portions of the mounting plate.