Deformable End Effector Interface for Non-Planar Surface Sealing
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Solution Overview
Problem
Conventional suction-based end effectors struggle to handle items without a planar surface, as inertial forces during movement can cause items to be dropped or damaged due to insufficient suction.
Innovation Solution
A suction-based end effector with a selectively deformable interface system, featuring actuators that apply force to a movable plate to deform the interface, allowing it to conform to non-planar surfaces and maintain a seal, enabling the handling of items with complex or irregular shapes at higher velocities and accelerations without suction loss or damage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional rigid suction-based end effector is used, then the structure is simple and easy to manufacture, but it cannot maintain a seal with non-planar surfaces, causing items to be dropped or damaged during movement
Solution Approach 1:
The interface system transitions from a rigid, static structure to a dynamic, selectively deformable structure. The mounting plate can be actively deformed using actuators (such as pneumatic or hydraulic elements) to change its geometry and conform to non-planar surfaces of items, enabling reliable sealing with complex-shaped objects while maintaining controlled complexity through on-demand deformation
Solution Approach 2:
The end effector changes the physical parameters of its interface system by altering the shape and geometry of the mounting plate through controlled deformation. This parameter change allows the sealing surface to adapt to different item geometries, improving seal quality without requiring a completely different structure for each item type
2Productivity
If a rigid interface system is used, then the device complexity is low, but the handling velocity and acceleration are limited due to insufficient suction force on non-planar surfaces
Solution Approach 1:
The dynamically deformable interface system allows the end effector to maintain optimal sealing contact with items during high-velocity movement and acceleration. By actively adjusting the mounting plate geometry, the system ensures continuous suction force is maintained even under inertial loads, enabling higher productivity without compromising grip reliability
Solution Approach 2:
The system preemptively deforms the mounting plate to counteract the effects of inertial forces that will occur during acceleration and movement. By pre-adjusting the interface geometry to anticipate loading conditions, the end effector maintains seal integrity and suction force throughout the movement cycle, enabling higher handling velocities
3Adaptability or versatility
If a rigid suction cup is used, then the manufacturing is simple, but items with complex shapes cannot be grasped securely, leading to potential damage
Solution Approach 1:
The deformable mounting plate enables local adaptation of the sealing surface to match the specific geometry of the item being handled. Different regions of the plate can be deformed to different degrees to conform to local surface features of complex-shaped items, providing tailored sealing contact that improves adaptability while keeping the overall system relatively simple
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
The deformable interface system effectively maintains a seal with items of complex shapes, allowing for faster and more secure movement, enhancing throughput and reducing the risk of damage during handling.
Implementation Method 1
a vacuum source configured to apply a vacuum to the inner recess
Implementation Method 2
maintaining a vacuum between the item and the pliable body member
Data Source
AI summary
Implementations of an end effector and an associated method of grasping an item are disclosed. The end effector comprises an interface system comprising a mounting plate having at least a first portion movable relative to at least a second portion. For example, the first portion and/or second portion are configured to pivot about at least a first pivot axis. The interface system further comprises a pliable body member attached to the mounting plate and at least partially defining an inner recess. The end effector further comprises a pair of actuators operably connected to the plate and each configured to apply a force to the plate so as to pivot a portion of the mounting plate and deform the pliable body member. The end effector further comprises a vacuum port in fluid communication with the inner recess.