Orthogonal Support Structure for Robotic Gripper Side Grasping
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Solution Overview
Problem
Conventional robotic grippers face challenges in grasping and manipulating objects in constrained spaces, particularly when top grasping is impractical due to limited overhead space, and side grasping requires excessive pulling force, which can lead to deformation and damage.
Innovation Solution
A robotic end effector with an integrated support structure that includes a spatula-type design, allowing for orthogonal deployment to support objects from the bottom, reducing the required suction force and preventing deformation, while also being retractable for top-down grasping scenarios.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a pull force type gripper is used to grasp an object from the side, then the gripper can operate in constrained spaces, but considerably more pulling force is required which may not be practical for heavier objects
Solution Approach 1:
The invention introduces a support structure that extends in a direction orthogonal to the pull force application direction. This creates a three-dimensional grasp configuration where the support structure provides vertical support while the suction element applies horizontal pull force, effectively distributing the load across multiple spatial dimensions and reducing the required suction force for side grasping operations.
2Ease of operation
If a pull force type gripper is used to grasp an object from the side, then the gripper can operate in constrained spaces, but the item and/or pull force generating elements may deform potentially resulting in damage to the item
Solution Approach 1:
By extending the support structure orthogonally to the pull force direction, the system creates a distributed support configuration that prevents concentration of forces on single points. This dimensional separation ensures that the suction element and support structure work together to evenly distribute grasping forces, preventing deformation of both the gripper elements and the grasped object.
Solution Approach 2:
The support structure acts as an intermediary element between the suction element and the object. It provides a stable interface that distributes the suction-generated forces across a broader area, preventing direct concentration of force on the object's surface and thereby reducing the risk of deformation or damage.
3Force
If a top grasp is used to stack or unstack boxes, then the gripper can apply controlled force, but it requires sufficient overhead space which is not available in constrained spaces
Solution Approach 1:
The invention enables side-grasping operations by extending the support structure in a direction orthogonal to the traditional top-down grasp direction. This creates a three-dimensional grasp configuration that allows force application from the side rather than from above, eliminating the need for overhead clearance while maintaining controlled force application through the coordinated action of the suction element and support structure.
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 secure grasping and manipulation of objects with reduced suction force, preventing deformation and damage, and facilitating placement in constrained spaces with improved flexibility and efficiency.
Implementation Method 1
A suction-type end effector, for example, may terminate in a bank of silicone or other suction cups or in a foam rubber suction pad
Data Source
AI summary
A robotic end effector is disclosed. The robotic end effector includes (a) an end effector body having a top side and an operative side opposite the top side, (b) a pull force gripper disposed on the operative side of the end effector body, and (c) a first end effector support structure that is connected to the end effector body and extends from the end effector body in a direction that is orthogonal to the operative side of the end effector body.