Dynamic End Effector Exchange for Multi-Object Robotic Grasping
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Solution Overview
Problem
Existing end effectors for robotic systems face limitations in securely grasping a wide variety of objects with different physical sizes, weights, and materials, particularly during rapid movement, and often require manual intervention for tool changes.
Innovation Solution
A programmable motion system with a dynamic end effector system that includes a plurality of acquisition units, such as vacuum cups, which can be automatically selected and exchanged without human intervention, using magnetic and passive retention systems, and integrated with perception units for object identification and routing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single end effector design is used, then device complexity is reduced, but adaptability to different objects deteriorates
Solution Approach 1:
The end effector system is segmented into multiple interchangeable acquisition units (vacuum cups, magnetic units, mechanical grippers) that can be independently selected and attached to the robotic arm based on object characteristics, allowing the system to adapt to different objects without redesigning the entire end effector
Solution Approach 2:
The robotic arm is designed with a universal mounting interface that can accommodate multiple types of acquisition units, enabling a single base system to perform multiple functions by simply changing the attached acquisition unit based on the object being handled
2Productivity
If manual intervention is used for tool changes, then ease of operation is improved, but productivity deteriorates
Solution Approach 1:
The system incorporates perception units that automatically identify objects and determine the appropriate acquisition unit needed, then autonomously exchange the acquisition units without human intervention, allowing the system to serve itself in selecting and changing tools based on real-time object characteristics
Solution Approach 2:
The perception units provide feedback about object characteristics (size, shape, material, weight) to the control system, which then automatically selects and exchanges the appropriate acquisition unit, creating a closed-loop system that continuously adapts to different objects without manual input
3Speed
If rapid movement is implemented, then speed is improved, but reliability of grasping deteriorates
Solution Approach 1:
The system changes the grasping parameters (vacuum pressure, magnetic field strength, mechanical grip force) based on the specific object characteristics detected by perception units, optimizing the grasping force for each object type to maintain secure holding during rapid acceleration and deceleration movements
Solution Approach 2:
The end effector system dynamically adjusts its grasping mechanism based on real-time object properties and movement requirements, switching between different acquisition units with optimized characteristics for specific object types to ensure reliable grasping during high-speed operations
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 secure and efficient grasping and movement of diverse objects, optimizing grasping time and reducing manual intervention by automating the selection and exchange of end effectors based on object-specific parameters, enhancing processing efficiency.
Implementation Method 1
Many end effectors employ vacuum pressure for acquiring and securing objects for transport and/or subsequent operations by articulated arms
Implementation Method 2
The coupling unit includes a magnet for securing the acquisition unit to the end effector
Data Source
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AI summary
A programmable motion system is disclosed that includes a dynamic end effector system. The dynamic end effector system includes a plurality of acquisition units that are provided at an exchange station within an area accessible by the programmable motion device, and a coupling system for coupling any of the plurality of acquisition units to an end effector of the programmable motion device such that any of the acquisition units may be automatically selected from the exchange station and used by the programmable motion device without requiring any activation or actuation by the exchange station and without requiring any intervention by a human.