Suction Gripper Head Pose Optimization for Cut-Part Pickup
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Solution Overview
Problem
Existing digital cutting systems face inefficiencies in picking up cut parts from a work plane using suction grippers, as the current methods do not maximize the number of suction spots acting on the cut part, leading to reduced gripping force and stability.
Innovation Solution
A computer-implemented method optimizes the gripping pose of the suction gripper by maximizing the number of suction spots that can act on the cut part, using an optimization algorithm that varies the heading angle and lateral position within specific ranges to ensure the greatest number of suction spots are engaged, thereby enhancing gripping force and stability without altering the cutting system's structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the gripper head is positioned using conventional methods (center over center), then the positioning is simple, but the number of suction spots acting on the cut part is not maximized, reducing gripping force
Solution Approach 1:
The system performs preliminary calculation of the optimal gripping pose before actual gripping occurs. The controller computes the heading angle and lateral position that will maximize suction spot contact with the cut part, allowing the gripper to be positioned optimally from the start rather than requiring iterative adjustments.
Solution Approach 2:
The patent replaces conventional mechanical positioning methods with a computational approach. Instead of using complex mechanical adjustment mechanisms to optimize suction contact, the system uses algorithms to calculate the optimal gripper pose (heading angle and lateral position) and controls the motorized movement apparatus to achieve this computed position.
2Reliability
If the gripper head is positioned using conventional methods, then the setup is straightforward, but the gripping stability is reduced due to insufficient suction spot engagement
Solution Approach 1:
The system uses feedback from the cut part's geometric information (boundary line pathway) to determine the optimal gripping pose. The controller processes the cut part's shape data and adjusts the gripper's heading angle and lateral position accordingly, creating a closed-loop system that ensures maximum suction spot engagement based on the specific geometry of each cut part.
Solution Approach 2:
The patent makes the gripping system dynamic by allowing the gripper head to adjust its heading angle and lateral position based on the specific geometry of the cut part. Rather than using a fixed positioning method, the system dynamically computes and adjusts the optimal pose for each different cut part shape and orientation.
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
This approach increases the gripping force and stability of cut parts by maximizing the number of suction spots in contact, improving the picking process without requiring changes to the cutting system's physical structure.
Implementation Method 1
a vacuum gripper, the vacuum gripper being designed for removing cut parts from a work table
Data Source
Figure 1
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AI summary
The invention relates to a computer-implemented method for a cutting system, the cutting system at least comprising a digital cutter and a gripper for picking up cut parts. Therein, the digital cutter is built for cutting a part of a sheet according to a cut design, the cut part having a specific pathway of its boundary line. The gripper is built for picking up the cut part from the sheet, wherein the gripper comprises a gripper head and a movement apparatus. Thus, the gripper head is provided with a plurality of degrees of freedom of motorized movement including a variable heading angle (Ψ) and/or variable lateral position (x- and y-position) in a plane parallel to the sheet. The gripper head comprises a plurality of suction spots having known geometric arrangement, said arrangement of suction spots defining a mean grid spacing. According to the invention, the method comprises carrying out an optimization algorithm for determining a gripping pose in which the cut part is to be gripped by the gripper head. Therein, the optimization algorithm being programmed for maximizing a number of cut-part-facing suction spots coming to lie on the cut part in the gripping pose, wherein the optimization algorithm optimizes over - heading angle candidates (Ψ) for the gripping pose within a range extending consistently over at least 90° and/or - lateral position candidates for the gripping pose within sub-mean-grid-spacing range under exploitation of - first input data consistently representing the complete specific pathway of the boundary line of the cut part and - second input data relating to the known geometric arrangement. The determined gripping pose will be provided as output data.