Gimbal End Effector Self-Alignment for Variable Geometry Grasping
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Solution Overview
Problem
Conventional systems for moving objects, such as robotic systems, are limited in handling large or complexly shaped objects and may damage delicate materials due to excessive force, requiring manual handling which is cumbersome and inefficient.
Innovation Solution
An end effector system with a gimbal assembly and self-alignment mechanism attached to a shaft, allowing for adjustable positioning and grasping of objects, combined with a stringer placement system featuring radial and circumferential actuation systems to support multiple end effectors along a support structure, enabling precise and safe handling of varied object geometries.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If robotic systems with end effectors are used to move objects, then automated handling capability is improved, but the system is limited in handling large or complexly shaped objects and may damage delicate materials
Solution Approach 1:
The end effector system incorporates a gimbal assembly that allows dynamic adjustment of the end effector's orientation and position. The self-alignment mechanism enables the end effector to automatically adapt its angle to match the geometry of the object being handled, providing versatility for different object shapes and sizes while maintaining automated operation.
Solution Approach 2:
The system changes the operational parameters of the end effector by allowing continuous adjustment of its angular position through the gimbal assembly. This enables the end effector to modify its grasping angle and orientation to suit different object geometries, resolving the contradiction between automation and adaptability.
2Extent of automation
If robotic systems with end effectors are used to move objects, then automated handling is achieved, but multiple robotic systems may be required for large or complex objects
Solution Approach 1:
The end effector system is designed as a universal handling device that can manage various object types and geometries through its self-alignment capability. The gimbal assembly allows a single end effector to perform multiple functions by adjusting its orientation, eliminating the need for multiple specialized robotic systems.
Solution Approach 2:
The dynamic adjustment capability of the gimbal assembly enables one robotic system to handle diverse object geometries that would otherwise require multiple fixed-configuring robotic systems, reducing overall system complexity while maintaining automation.
3Adaptability or versatility
If manual handling is used to move large or complexly shaped objects, then adaptability to object geometry is improved, but the process is cumbersome and may damage material
Solution Approach 1:
The self-alignment mechanism enables the end effector to automatically adjust its own orientation to match the object geometry without requiring manual intervention. This combines the adaptability of manual handling with the efficiency of automated operation, as the system serves itself by autonomously configuring the correct grasping angle.
Solution Approach 2:
The system automatically changes the angular parameters of the end effector through the gimbal assembly to adapt to different object geometries, maintaining the versatility of manual handling while achieving automated productivity.
4Force
If conventional end effectors are used to grasp objects, then grasping capability is achieved, but the end effector may exert excessive force and damage delicate material
Solution Approach 1:
The self-alignment mechanism provides feedback control by continuously adjusting the end effector's orientation based on the object's geometry. This ensures optimal grasping angles that distribute force evenly, preventing excessive localized force that could damage delicate materials while maintaining secure grasping.
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 faster, safer, and more precise placement of large or complex objects, improving production efficiency and product quality by adapting to variable object shapes and sizes without manual intervention.
Implementation Method 1
The gimbal assembly is configured to allow the respective end effector to rotate about at least one axis
Implementation Method 2
The first actuator is configured to move the shaft such that the first surface engages the second surface to position the gimbal assembly at a first position
Implementation Method 3
The pinion gear is configured to engage the rack gear of the respective longitudinal stiffener to move the respective end effector along the respective longitudinal stiffener
Data Source
AI summary
Certain aspects of the present disclosure provide techniques for an end effector system. The end effector system includes an end effector coupled to a gimbal assembly, wherein the end effector is configured to grasp an object and the gimbal assembly is attached to a shaft. The end effector system includes a first actuator coupled to the shaft and configured to move the shaft and a self-alignment assembly. The self-alignment assembly includes a first surface coupled to the end effector and a second surface coupled to the first actuator and configured to interface with the first surface, wherein the first actuator is configured to move the shaft such that the first surface engages the second surface to position the gimbal assembly at a first position.