Gripper Assembly Center of Mass Alignment for Vibration Control
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Solution Overview
Problem
Current gripper configurations for robotic picking and placing face challenges with high throughput due to vibratory disturbances caused by the displacement of the center of mass relative to the axis of rotation, leading to increased time increments for proper orientation and reduced productivity and reliability, especially when handling articles of unknown geometry and orientation.
Innovation Solution
A gripper assembly with its center of mass substantially aligned with the vertical rotation axis, utilizing a pneumatic cylinder and suction cup assembly to rotate articles around a horizontal axis, minimizing vibratory disturbances and maintaining stability during article reorientation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the gripper assembly uses a double-rotation configuration with center of mass displaced from the rotation axis, then it can perform article picking and placement operations, but it generates high vibratory disturbances and increases mean time between failures
Solution Approach 1:
The patent applies asymmetry by deliberately positioning the center of mass offset from the rotation axis in a controlled manner. This asymmetric configuration creates a restoring force that automatically returns the gripper to its initial position after rotation, eliminating the need for complex feedback control systems while improving reliability.
Solution Approach 2:
The patent uses the counterweight principle by positioning the center of mass at a specific offset distance from the rotation axis. This offset creates a balancing effect that counteracts vibratory disturbances during rotation, stabilizing the gripper assembly and reducing mean time between failures without compromising operational capability.
2Adaptability or versatility
If the gripper assembly rotates articles through extended time to stabilize vibrations, then it can handle articles of unknown geometry, but it increases time increments required for proper orientation and reduces productivity
Solution Approach 1:
The patent applies preliminary action by pre-positioning the center of mass at a calculated offset from the rotation axis before operation begins. This pre-configuration ensures that when articles are picked and rotated, the system automatically stabilizes faster due to the built-in restoring force, reducing the time needed for orientation while maintaining adaptability to unknown geometries.
Solution Approach 2:
The patent changes the physical parameter of center of mass position relative to the rotation axis. By adjusting this parameter to an optimal offset, the system achieves faster vibration stabilization during rotation, thereby increasing productivity while still being able to handle articles of unknown geometry and orientation.
3Ease of operation
If the gripper assembly uses traditional 90° turning tools with extended rotation, then it can reorient articles, but it increases manipulation cost and time requirements
Solution Approach 1:
The patent applies dynamics by creating a system where the center of mass offset provides an automatic restoring force during rotation. This dynamic characteristic allows the gripper to perform reorientation operations faster and more efficiently, reducing manipulation time while maintaining the capability to handle various article configurations.
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 gripper assembly achieves reduced rotational inertia, increased flexibility in handling various article sizes and shapes, and enhanced reliability with minimized material utilization, resulting in higher mean time between failures and increased pick and place rates compared to industry standard configurations.
Implementation Method 1
a suction cup assembly to rotate articles
Data Source
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AI summary
A gripper assembly for use with a moving device is disclosed. The moving device can be a mechanical device such as a robot. The gripper assembly includes a platform and an elongate arm extending from the platform. The elongate arm is in the form of least one elongate member. Each elongate member has a body which has a proximal end and an opposed distal end. A gripping mechanism is rotatably supported relative to the arm, and includes a holder having a pivoting arm pivotably joined to the body in the region of the distal end of the body. An actuator is in operable communication with the pivoting arm to impart pivotable movement to the pivoting arm and rotational movement to said gripping mechanism about a horizontal axis upon actuation of the actuator. The gripper assembly may have a center of mass substantially aligned with a vertical rotation axis of the gripper assembly.