Multi-Mode Robotic End Effector for Adaptive Object Grasping
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Solution Overview
Problem
Robotic arms equipped with traditional suction or gripper end effectors face challenges in grasping objects with irregular surfaces or those that are heavy, as these methods may not provide sufficient grip or may damage the object.
Innovation Solution
A multi-mode robotic end effector that can switch between suction and clamping modes based on object attributes, using sensors and computer vision to determine the optimal grasp strategy and transition between modes as needed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a suction-based end effector is used to grasp objects, then lighter objects with flat surfaces can be grasped effectively, but heavy objects or objects with irregular surfaces cannot be grasped reliably
Solution Approach 1:
The end effector is designed with multiple grasping modes (suction mode and clamping mode) integrated into a single device. The system can automatically switch between these modes based on object characteristics, making it universally applicable to both light flat objects (using suction) and heavy or irregular objects (using clamping), thereby resolving the contradiction between reliability for specific objects and adaptability across object types.
Solution Approach 2:
The end effector employs dynamic mode switching capability where the grasping method transitions from static suction-only operation to dynamic selection between suction and clamping modes. The control system adjusts the operative mode in real-time based on sensed object properties, enabling the system to adapt its behavior dynamically to maintain reliable grasping across varying object conditions.
2Reliability
If a gripper-type end effector is used to grasp heavy objects, then heavy objects can be grasped securely, but lighter objects with flat surfaces are less efficiently grasped
Solution Approach 1:
The end effector integrates both suction and clamping mechanisms into a single universal device. For light flat objects, the system uses suction mode which is more efficient and less damaging. For heavy objects, it switches to clamping mode which provides secure grasping. This multi-functionality resolves the contradiction by enabling the same device to efficiently handle both light and heavy objects with appropriate mode selection.
Solution Approach 2:
The system changes operational parameters by switching between suction-based grasping and clamping-based grasping. This parameter change allows the end effector to optimize its performance for different object weights and surface characteristics, achieving both high efficiency for light objects and high reliability for heavy objects without compromising either extreme.
3Object-affected harmful factors
If suction force is applied to grasp objects, then grasping is gentler and less damaging, but insufficient force is applied to heavy objects
Solution Approach 1:
The end effector provides a universal solution by offering both suction mode (gentle, low damage risk) and clamping mode (high force capability) within a single system. The control system selects the appropriate mode based on object weight and surface properties, ensuring gentle handling for susceptible objects while providing sufficient force for heavy objects through clamping, thus resolving the contradiction between minimizing damage and providing adequate force.
Solution Approach 2:
The control system acts as an intermediary that mediates between the two grasping mechanisms (suction and clamping). It evaluates object characteristics and determines the appropriate mode, effectively mediating the force application to match object requirements - using gentle suction when appropriate and stronger clamping when needed, thereby resolving the force-damage contradiction.
4Force
If clamping force is applied to grasp objects, then heavy objects can be grasped securely, but the object may be damaged by excessive force
Solution Approach 1:
The end effector provides a universal grasping solution with two modes: suction mode for gentle grasping of objects sensitive to force, and clamping mode for heavy objects requiring higher force. The system automatically selects the appropriate mode based on object characteristics, ensuring that clamping force is only applied when necessary and at appropriate levels, thus providing both sufficient force and damage prevention.
Solution Approach 2:
The system changes the grasping parameter from clamping force to suction force based on object properties. For objects where clamping might cause damage, the system switches to suction mode which applies distributed pressure rather than concentrated clamping force. This parameter change resolves the contradiction by adapting the force application method to match object vulnerability while still achieving 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 efficient and secure grasping of a variety of objects by selecting the appropriate mode of operation, minimizing damage and ensuring successful handling of objects with different surface types and weights.
Implementation Method 1
A robotic control system applies a vacuum under robot control to grasp and object by suction
Implementation Method 2
a gripper or other clamping force-based end effector may be provided and used to grasp an object, such as by applying force on the object from two or more sides using an amount of force sufficient to lift the object without slippage
Data Source
AI summary
A robotic system configured to use a multi-mode end effector is disclosed. In various embodiments, a grasp strategy is determined for a robot to grasp an object in a workspace, wherein the determined grasp strategy is associated with a corresponding one of a plurality of grasping modes of operation of a multi-mode robotic end effector associated with the robot. A command to grasp the object using the multi-mode robotic end effector in the grasping mode of operation associated with the determined grasp strategy is sent to the robot.