Dual-Arm Robot Gripping for Variable Object Sizes
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Solution Overview
Problem
Conventional robot systems face challenges in efficiently holding and transferring objects of varying sizes by determining the optimal number of hands required based on object size, as they often rely on fixed configurations that do not adapt to different dimensions effectively.
Innovation Solution
A dual-arm robot system with a hand-number determining module that adjusts the number of hands used to hold objects based on size, employing openable and closable holding parts to accommodate objects of different sizes by using either one hand's inner surface or two hands' outer surfaces, and incorporating a stereo camera for size calculation and image processing to determine the appropriate holding configuration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed hand configuration is used to hold objects, then the device structure is simple, but the system cannot adapt to objects of different sizes effectively
Solution Approach 1:
The patent implements dynamic hand configuration by enabling the robot to selectively use one hand or two hands based on object size detection. The hand-number determining module dynamically decides whether to employ a single hand or dual hands for holding objects, allowing the system to adapt its configuration in real-time according to the dimensions of the object being manipulated.
Solution Approach 2:
The patent applies universality by designing a holding mechanism that can function in multiple modes: single-hand holding with opening/closing action and dual-hand holding with closing action. This multi-functional approach allows the same robot system to handle various object sizes using a unified control framework, enhancing versatility without requiring entirely separate mechanisms for different object types.
2Productivity
If one hand is used to hold small objects, then the operation is efficient, but the holding method must be different from large objects
Solution Approach 1:
The patent applies local quality by differentiating the holding method based on the local characteristic of object size. For small objects, the system uses a single hand with an opening/closing motion to grasp the object efficiently. For large objects, the system switches to two hands with a closing motion to provide stable support. This localized adaptation of holding strategies optimizes productivity for each object size category.
Solution Approach 2:
The patent implements parameter changes by modifying the holding parameters (number of hands, motion type) based on object size parameters. The hand-number determining module detects object dimensions and changes the holding configuration parameters accordingly, switching between single-hand and dual-hand modes to maintain optimal holding efficiency across different object sizes.
3Reliability
If two hands are used to hold large objects, then the holding stability is improved, but the system complexity increases
Solution Approach 1:
The patent uses dynamics to implement conditional dual-hand operation. The control system dynamically determines when two hands are needed based on real-time object size assessment. For large objects requiring high stability, the system activates dual-hand holding with closing motion. For smaller objects, it reverts to single-hand operation. This dynamic activation ensures holding stability is improved only when necessary, avoiding unnecessary system complexity.
4Productivity
If the holding part opens to hold objects, then small objects can be grasped efficiently, but the mechanism becomes more complex
Solution Approach 1:
The patent applies dynamics by making the holding part mechanism dynamically configurable. The opening/closing motion capability is activated specifically for single-hand holding of small objects where this motion provides grasping advantage. The system dynamically selects between opening/closing motion and simple closing motion based on the holding mode, ensuring grasping efficiency is improved only when the complex mechanism is actually needed.
Data Source
AI summary
A robot system includes two arms, each having a hand at an end thereof, and a controller to control operation of the arms. The hand has an openable and closable holder. The controller includes hand-number determining circuitry to determine the number of hands used to hold a holdable object based on the size of the holdable object, and hold controlling circuitry to control the holder of one of the hands to open so as to hold the holdable object by an inner surface of the holder, when the number of hands to be used is one, and control the holders of the two hands to close so as to hold the holdable object by outer surfaces of the two holders, when the number of hands to be used is two.