Dynamic End Effector Rotation 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, particularly when the imbalance is not apparent visually, leading to potential object separation during rapid movement.
Innovation Solution
A dynamic end effector system coupled to a programmable motion system via a rotational bearing system that allows the end effector to freely rotate under load without active motor assistance, balancing the object's weight distribution by enabling the end effector to spin and potentially incorporating damping mechanisms to stabilize the rotation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the end effector is designed to securely grasp an object during rapid movement, then the reliability of object transport is improved, but the ease of selecting and grasping an object from a jumble of dissimilar objects deteriorates
Solution Approach 1:
The end effector incorporates a dynamic coupling mechanism that allows the gripper to rotate freely relative to the programmable motion device. This dynamic adjustment enables the gripper to automatically orient itself perpendicular to the long axis of elongated objects during grasping, improving ease of selection from jumbles, while maintaining secure grasp during rapid movement through the rotating bearing assembly
2Ease of operation
If the end effector is designed to quickly and easily grasp a selected object from a jumble of dissimilar objects, then the ease of operation is improved, but the reliability of grasping during rapid acceleration and deceleration deteriorates
Solution Approach 1:
The rotating bearing assembly allows the gripper to dynamically adjust its orientation during grasping operations, making it easier to capture objects from jumbles. The same dynamic coupling maintains secure grasp during rapid acceleration and deceleration by allowing the gripper to rotate and accommodate load imbalances, preventing object separation while maintaining grasping ease
3Device complexity
If the end effector uses a fixed grasping orientation, then the device complexity is reduced, but the ability to handle objects with uneven weight distribution deteriorates
Solution Approach 1:
The end effector employs a rotating bearing assembly that enables the gripper to freely rotate and dynamically adjust its orientation. This simple mechanical addition allows the system to automatically adapt to objects with uneven weight distribution or unknown center of gravity, maintaining reliability without requiring complex sensors or active control systems
4Reliability
If complex sensor systems are used to detect and compensate for load imbalances, then the reliability of object transport is improved, but the device complexity increases
Solution Approach 1:
The rotating bearing assembly enables the end effector to self-adjust and automatically balance load imbalances through passive rotation. The system self-corrects orientation issues without requiring external sensors or active control, maintaining reliability while minimizing device complexity through self-service functionality
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 the load, reducing the likelihood of object separation and improving processing efficiency without the need for complex sensor systems or repositioning.
Implementation Method 1
the end effector may spin with respect to the programmable motion device under a load of an object being held by the end effector
Implementation Method 2
incorporating damping mechanisms to stabilize the rotation
Data Source
Figure 1~2
Figure 3~4D
Figure 4E~4H
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.