Dynamic End Effector Coupling for Unbalanced Load Grasping
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Solution Overview
Problem
End effectors in robotic systems face challenges in securely grasping and moving objects with uneven weight distribution, often leading to separation during rapid movement, as existing designs either prioritize quick grasping or secure holding but not both effectively, especially when weight distribution is not apparent visually.
Innovation Solution
A dynamic end effector system with a rotational bearing system that allows the end effector to spin freely under load, using various bearing types such as radial deep groove ball bearings, four contact point ball bearings, or cylindrical roller bearings to balance the load without active motor assistance, enabling secure grasping and movement of objects with uneven weight distribution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the end effector is designed to securely grasp an object during rapid movement, then the security of grasping is improved, but the ability to quickly select and grasp an object from a jumble of dissimilar objects deteriorates
Solution Approach 1:
The end effector incorporates a dynamic coupling mechanism that allows the distal portion to rotate freely relative to the proximal portion when an object is grasped. This dynamic adjustment enables the system to adapt to unexpected weight distributions during rapid movement, resolving the contradiction between secure grasping and quick selection by allowing the gripper to quickly close on objects while the rotating mechanism compensates for balance issues during transport
2Productivity
If the end effector is designed to quickly and easily grasp a selected object from a jumble of dissimilar objects, then the speed of grasping is improved, but the security of grasping during rapid acceleration and deceleration deteriorates
Solution Approach 1:
The dynamic coupling mechanism allows the distal portion of the end effector to rotate independently when an object is grasped. This design enables quick closure of the gripper fingers to rapidly secure objects, while the free rotation capability compensates for imbalanced loads during rapid acceleration and deceleration, maintaining grasp security without sacrificing grasping speed
3Adaptability or versatility
If a single tool design is used for specific needs, then the specialization for specific tasks is improved, but the ability to handle a wide variety of objects with different weight distributions deteriorates
Solution Approach 1:
Rather than designing multiple specialized end effectors for different object types, the patent implements a single dynamic end effector design with a free-rotating coupling mechanism. This dynamic feature provides universal adaptability to handle various objects with different weight distributions without increasing overall system complexity, as the rotation mechanism passively adapts to any load configuration
4Reliability
If complex sensor systems and active motor assistance are used to balance loads, then the ability to handle unbalanced loads is improved, but the device complexity and cost increase
Solution Approach 1:
The dynamic coupling mechanism enables the end effector to self-adjust to unbalanced loads through passive free rotation of the distal portion. This eliminates the need for complex sensor systems to detect weight distribution or active motors to counterbalance loads, as the mechanical design inherently accommodates any load configuration through its rotational自由度, reducing system complexity while maintaining reliability
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.