End Effector With Pliable Bladder for Complex Item Handling
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Solution Overview
Problem
Conventional suction-based end effectors face challenges in handling items with complex shapes or varying dimensions, as they often lose suction when subjected to inertial forces, leading to potential damage or dropping of items during movement.
Innovation Solution
An end effector with a pliable bladder that conforms to the item's contour, featuring a manifold and a bladder with a material that changes rigidity upon signal activation, maintaining an improved seal and minimizing contact force to prevent damage, allowing for the handling of complex-shaped items at greater velocities and accelerations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a conventional suction-based end effector is used to handle items, then the structure is simple and easy to manufacture, but the suction force is insufficient when subjected to inertial forces during movement
Solution Approach 1:
The end effector employs a bladder that can dynamically change its structural state between compliant and rigid configurations. This dynamic adaptability allows the bladder to conform to item contours during contact while maintaining structural integrity during movement, resolving the contradiction between sufficient suction force and structural simplicity
Solution Approach 2:
The system changes the rigidity parameter of the bladder material through state transitions. By adjusting the rigidity from compliant (for conforming) to rigid (for maintaining seal under inertial forces), the end effector achieves both adaptability and sufficient suction force without requiring complex mechanical structures
2Adaptability or versatility
If the end effector is designed for a particular type of item, then the handling performance is optimized for that item, but the adaptability to handle various types of items is reduced
Solution Approach 1:
The end effector design incorporates a bladder capable of conforming to different item contours while maintaining reliable seals. The ability to adapt to various shapes and dimensions makes the end effector universal for handling different item types, yet the controlled state transitions ensure consistent seal quality across applications
Solution Approach 2:
The bladder exhibits different local properties through its state transitions - compliant in the contact phase for conforming to local contours, and rigid in the holding phase for maintaining seal integrity. This local quality variation enables both adaptability to different items and reliable sealing performance
3Force
If a rigid structure is used to maintain seal during movement, then the suction force is maintained, but the contact force required to conform to complex shapes increases
Solution Approach 1:
The bladder dynamically transitions from a compliant state during contact (minimizing harmful contact forces) to a rigid state during movement (maintaining suction force). This temporal separation of compliance and rigidity eliminates the need to choose between the two conflicting requirements
Solution Approach 2:
The compliant bladder state acts as a cushioning phase before the rigid sealing phase. By allowing initial conforming contact in a compliant state, the system minimizes impact and contact forces on the item, then transitions to rigid state to maintain seal without requiring excessive conforming force
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
The end effector effectively maintains suction on complex-shaped and heavier items during movement, reducing the likelihood of damage and ensuring secure handling without loss of suction.
Implementation Method 1
The material comprises a granular material, and evacuating at least part of the fluid from the chamber causes a jamming of the granular material
Implementation Method 2
The material comprises a fluid and the signaling port comprises a second vacuum port. The change to the composition of the material may comprise evacuating at least part of the fluid from the chamber via the second vacuum port
Implementation Method 3
end effectors such as suction cups or vacuum cups may be used to suction items
Implementation Method 4
The pliable body is able to rigidly conform to a contour of the item to be suctioned
Implementation Method 5
The performance of suction-based end effectors is largely dependent on the quality of the seal formed with the suctioned item
Data Source
AI summary
End effectors and a related method of actuating items are disclosed. The end effector comprises a bladder comprising a pliable body that defines an inner recess in fluid communication with the manifold via a first connection. The pliable body has a sealing surface at its distal end and defines a chamber. The bladder further comprises a material disposed within the chamber. The method comprises contacting an item to conform the sealing surface to a contour of the item, transitioning the bladder to a structural state having greater rigidity, applying a vacuum to the inner recess via the first connection, and actuating the item.