Movable Opposing-Surface End Effector for Secure Bag Grasping
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Traditional end effectors for robotic systems face challenges in securely grasping objects with unpredictable outer surfaces, such as polyethylene bags, during rapid movement and acceleration, as they often prioritize either speed or security but not both effectively.
Innovation Solution
A programmable motion end effector design featuring a pair of mutually opposing surfaces, where at least one surface is movable with respect to a support structure, allowing for adjustable engagement and release of objects using rollers with variable spacing, diameters, and attraction features like vacuum ports or electrostatic charges to securely grasp and transport objects like polyethylene bags.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If end effectors are designed to securely grasp objects during rapid movement, then object retention is improved, but the ability to quickly select and grasp objects from a jumble is reduced
Solution Approach 1:
The end effector employs movable opposing surfaces that can dynamically adjust their position and configuration. The surfaces are capable of rapid opening and closing motions, allowing the system to quickly select objects from a jumble while maintaining secure grasp during transport. The dynamic adjustment of surface spacing and orientation enables adaptation to different object shapes and sizes.
Solution Approach 2:
The end effector changes physical parameters of the grasping surfaces, including spacing, orientation, and surface characteristics. By varying these parameters, the system can optimize for either rapid object acquisition or secure retention depending on the operational phase. The opposing surfaces can be positioned at different distances and angles to accommodate different grasping requirements.
2Ease of operation
If traditional end effectors use vacuum pressure for acquiring objects, then object acquisition is simplified, but objects with unpredictable outer surfaces like polyethylene bags cannot be reliably grasped
Solution Approach 1:
The end effector with opposing surfaces serves multiple functions: it can grasp objects with smooth surfaces, irregular surfaces, flexible materials like polyethylene bags, and rigid objects. The universal design accommodates various object types by adjusting surface positioning and applying appropriate forces, replacing the need for object-specific gripper designs.
Solution Approach 2:
The opposing surfaces can be locally adjusted to match the specific characteristics of the object being grasped. For flexible objects like polyethylene bags, the surfaces can be positioned to apply distributed pressure rather than concentrated force, preventing object deformation while maintaining secure grasp. The local adaptation of surface properties enables reliable handling of diverse materials.
3Ease of manufacture
If end effectors are designed as single-purpose tools, then tool design is simplified, but adaptability to different object types and processing needs is reduced
Solution Approach 1:
The end effector with movable opposing surfaces is designed as a universal tool that can handle various object types including bags, packages, and irregularly shaped items. The same basic structure with adjustable surfaces replaces multiple specialized grippers, providing both manufacturing simplicity and operational versatility.
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 consistent and reliable grasping and transportation of objects with unpredictable surfaces, balancing speed and security by using movable rollers and attraction features to adapt to the object's surface, enhancing the efficiency of robotic object processing tasks.
Implementation Method 1
Many end effectors employ vacuum pressure for acquiring and securing objects for transport or subsequent operations by articulated arms
Implementation Method 2
Other techniques for acquiring and securing objects employ electrostatic attraction
Implementation Method 3
Other techniques for acquiring and securing objects employ electrostatic attraction, magnetic attraction
Data Source
AI summary
In accordance with an embodiment, the invention provides an end effector for use with a programmable motion device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces being movable with respect to an end effector support structure for supporting the at least one of the pair of mutually opposing surfaces.