Hybrid Robotic Gripper Motion Planning for Irregular Object Handling
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current robotic gripping systems are limited in handling irregularly-shaped objects and are often custom-made for specific applications, lacking versatility and ability to dynamically avoid collisions, especially when dealing with varying object types and environments.
Innovation Solution
A robotic apparatus equipped with a vacuum port and stabilizing fingers, utilizing a dynamic collision model for motion planning, which generates a collision scene from environmental images or videos to selectively actuate the vacuum port and gripping structures, allowing for dynamic collision avoidance and adaptive motion paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robotic grippers incorporate vacuum suction, then gripping capability is improved, but the system becomes limited in handling irregularly-shaped objects requiring flat or smooth areas
Solution Approach 1:
The patent combines vacuum suction ports with mechanical finger grippers in a single end effector assembly. The vacuum ports provide reliable gripping for suitable surfaces while the mechanical fingers handle irregularly-shaped objects that lack flat or smooth areas, allowing the system to overcome the limitations of each individual gripping mechanism when used alone.
2Measurement precision
If robotic grippers incorporate fingers to manipulate smaller objects, then precision gripping is improved, but the gripper becomes too large or bulky to isolate small objects
Solution Approach 1:
The end effector is segmented into multiple independent components: several vacuum ports distributed across the structure and multiple mechanical fingers. This segmentation allows the system to use only the necessary components for each specific task, enabling precise manipulation of small objects with minimal bulk while maintaining the capability to handle larger objects when needed.
3Adaptability or versatility
If robotic gripper moves along arbitrary paths with independent joint movement, then flexibility and reach are improved, but the likelihood of collisions with objects or obstacles increases
Solution Approach 1:
The system incorporates sensors that provide real-time feedback about the environment and object positions. This feedback is integrated into the motion planning process, allowing the robotic gripper to dynamically adjust its paths and avoid collisions with objects or obstacles while maintaining the flexibility to reach various areas within its workspace.
4Device complexity
If conventional motion control logic uses pre-planned paths, then control simplicity is improved, but the system becomes less optimal when encountering dynamic obstacles
Solution Approach 1:
The motion planning system transitions from static pre-planned paths to dynamic adaptive paths. The system continuously updates motion plans based on real-time sensor data and detected obstacles, allowing the robotic gripper to navigate around dynamic obstacles while maintaining efficient and safe operation. This dynamic approach balances the simplicity of pre-planned control with the adaptability needed for changing environments.
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 the robotic gripper to effectively manipulate objects of varying sizes and shapes while avoiding collisions, providing an object-agnostic gripping system that can adapt to different environments and improve operational safety and efficiency.
Implementation Method 1
a vacuum port configured to provide a vacuum suction force
Data Source
AI summary
The present disclosure generally relates to a robotic gripping system and method that utilizes vacuum suction and finger grasping, wherein the suction and grasping are actuated based on a dynamic collision model. In an exemplary embodiment, the present disclosure is directed to generating collision scenes of a surrounding environment which is used to determine possible collisions in a motion path, and which is used to selectively actuate the vacuum suction and/or finger grasping.