Modular Robotic End Effector with Reconfigurable Manipulators

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Solution Overview

Problem

Existing end effectors for robots are limited in versatility, requiring new designs for each task and being unable to adapt to unknown tasks or larger objects without significant redesign, and interchangeable tools are restricted to known tasks.

Innovation Solution

A modular end effector with a base and exchangeable manipulators that can be positioned and reconfigured to adapt to various tasks, including changing geometry and attaching multiple manipulators to a single connection element, allowing for increased adaptability and accessibility without requiring new designs.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a specific end effector is designed for a dedicated task, then the task performance is optimized, but the versatility is reduced and new tasks require new designs

Engineering Contradiction:

Improvetask performanceVSAvoidversatility

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The end effector is divided into modular components: a base unit and multiple interchangeable manipulators. Each manipulator can be independently attached or detached from the base, allowing the system to be reconfigured for different tasks without redesigning the entire end effector.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The base unit is designed with universal connection interfaces that can accommodate multiple types of manipulators. This universal design allows a single base to perform multiple functions by simply changing the attached manipulator, eliminating the need for dedicated end effectors for each task.

Inventive Principle:

Principle #6Universality (Multi-functionality)

2Adaptability or versatility

If interchangeable tools are provided on the end effector, then some task variations are possible, but fundamentally different tasks cannot be accomplished

Engineering Contradiction:

Improvetask variation capabilityVSAvoidend effector design

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The end effector incorporates dynamic reconfigurability through movable connection elements and adjustable manipulator positions. The connection elements can change position along the manipulator length, and manipulators can be rotated or repositioned, allowing the system to adapt its geometry for fundamentally different tasks rather than being static.

Inventive Principle:

Principle #15Dynamics

3Ease of manufacture

If the end effector geometry is fixed, then the design is simple, but accessibility to certain portions is limited

Engineering Contradiction:

Improvedesign simplicityVSAvoidaccessibility

Core Design Contradiction:

Ease of manufactureVSAdaptability or versatility

Solution Approach 1:

The connection elements are designed to be movable along the manipulator length rather than fixed at single positions. This dynamic positioning capability allows the manipulator to reach different portions and angles, improving accessibility while maintaining a relatively simple base design that doesn't require complete geometric redesign.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS11958188B2Modular end effector

Publication Date: 2024.04.16 DEUTSCHES ZENTRUM FÜR LUFT UND RAUMFAHRT E V

AI summary

A modular end effector with a base with at least one connection element, a manipulator, in particular interchangeable with the connection element connected is disclosed. The position of the connection element and/or the position of the manipulator within the connection element can be changed so that the manipulator can be used in different positions relative to a base to create a versatile modular end effector.