Dynamic End Effector Coupling for Uneven Load Grasping
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Solution Overview
Problem
Existing end effectors for robotic systems face challenges in securely grasping and moving objects with uneven weight distribution without complex sensor systems, often leading to separation during movement.
Innovation Solution
A dynamic end effector system with a rotational bearing coupling allows the end effector to spin freely with respect to the programmable motion system, balancing uneven loads without active motors, using various types of bearings to accommodate rotational movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the end effector is designed to securely grasp an object during rapid movement, then the grasp security is improved, but the ability to quickly select and grasp objects from a jumble of dissimilar objects deteriorates
Solution Approach 1:
The end effector incorporates a dynamic coupling mechanism that allows the gripper to rotate or pivot relative to the motion system. This dynamic adjustment enables the gripper to automatically orient itself for optimal grasping of objects with uneven weight distribution, maintaining secure grasp during rapid movement while preserving quick object selection capability from jumbles of dissimilar objects
2Productivity
If the end effector is designed to quickly grasp objects from a jumble, then the object selection speed is improved, but the grasp security during rapid acceleration and deceleration deteriorates
Solution Approach 1:
The dynamic coupling mechanism allows the gripper to pivot and adjust its orientation in response to objects with uneven weight distribution. This dynamic adjustment maintains optimal grasping contact during rapid acceleration and deceleration, preventing object separation while preserving the ability to quickly select objects from jumbles
3Measurement precision
If complex sensor systems are used to detect uneven weight distribution, then the detection precision is improved, but the device complexity increases
Solution Approach 1:
The system uses the physical response of the end effector itself to detect and compensate for uneven weight distribution. The dynamic coupling mechanism allows the gripper to naturally pivot and indicate load imbalance through its movement, eliminating the need for external sensors while maintaining the ability to detect and adapt to weight distribution issues
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 grasping and rapid movement of objects with uneven weight distribution by dynamically balancing loads, reducing separation and processing time, and eliminating the need for complex sensors.
Implementation Method 1
a dynamic coupling provides that at least a portion of the end effector may spin with respect to another portion of the end effector
Data Source
AI summary
A programmable motion system is disclosed that includes a dynamic end effector system. The dynamic end effector system includes an end effector that is coupled via a dynamic coupling to the programmable motion system, wherein the dynamic coupling provides that at least a portion of the end effector may spin with respect to an other portion of the end effector.