Dynamic End Effector Switching for Heterogeneous Object 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 coupled to an end effector without human intervention, allowing for quick and secure grasping of diverse objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single fixed end effector design is used, then the device complexity is reduced, but the adaptability to different objects (sizes, weights, materials) deteriorates
Solution Approach 1:
The end effector is divided into a modular system with a base structure and interchangeable acquisition units. Each acquisition unit can be independently selected and attached based on the specific object characteristics, allowing the system to adapt to different sizes, weights, and materials without redesigning the entire end effector.
Solution Approach 2:
The end effector base structure serves multiple functions by supporting various types of acquisition units (vacuum cups, mechanical grippers, magnetic attachments). This universal base design allows a single platform to handle diverse objects through unit interchangeability, resolving the contradiction between versatility and complexity.
2Productivity
If manual intervention is required for tool changes, then the ease of operation is improved, but the productivity and automation level deteriorate
Solution Approach 1:
The system implements automatic acquisition unit selection and attachment based on object identification. The programmable motion system autonomously determines the appropriate acquisition unit type and performs the exchange without human intervention, thereby increasing productivity while maintaining operational simplicity through automated decision-making.
Solution Approach 2:
Multiple acquisition units are pre-configured and stored in accessible positions around the workspace. The system prepares the appropriate unit in advance based on predicted object characteristics, enabling rapid exchange without complex real-time decision-making or manual intervention during the picking process.
3Speed
If rapid acceleration and deceleration are used to improve productivity, then the speed increases, but the reliability of secure grasping deteriorates
Solution Approach 1:
The system dynamically adjusts acquisition parameters such as vacuum pressure level, magnetic field strength, or mechanical grip force based on the detected object characteristics and anticipated movement dynamics. For rapid acceleration/deceleration operations, the system increases grasping force parameters to compensate for inertial effects, maintaining secure grasping while enabling high-speed operation.
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 efficient and automated grasping and movement of heterogeneous objects, improving processing efficiency by allowing seamless switching of acquisition units based on object identification, reducing manual intervention, and enhancing handling capabilities.
Implementation Method 1
Many end effectors employ vacuum pressure for acquiring and securing objects for transport and/or subsequent operations by articulated arms.
Data Source
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.