Orthogonal Vacuum Gripper for Stable Low-Pose-Authority Handling
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing end effectors for robotic systems face challenges in grasping objects with low pose authority, leading to instability and potential loss of contents due to rotating lids or flaps, especially when objects are cube-shaped or box-shaped.
Innovation Solution
An end-effector design with a vacuum portion orthogonal to a gripping portion, incorporating ridges for variable seal and air flow, non-slip surfaces, and a lid containment mechanism to stabilize objects with low pose authority, assisted by perception units for identifying optimal grasp locations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional vacuum grippers are used, then objects can be grasped and transported, but objects with low pose authority become unstable and lids may rotate or separate
Solution Approach 1:
The end effector is divided into multiple functional segments: a vacuum portion for adhering to the object surface, a gripping portion for mechanical engagement, and a lid containment portion for stabilizing lids. Each segment addresses specific stability issues independently, allowing the system to handle objects with low pose authority without requiring a completely complex redesign of the entire gripper structure.
Solution Approach 2:
The lid containment portion extends in a direction generally orthogonal to both the vacuum portion and gripping portion, adding a third dimensional element to the gripper structure. This orthogonal extension provides additional contact points and constraints that prevent lid rotation and separation, addressing stability issues that cannot be resolved by traditional single-plane gripping methods.
2Force
If vacuum pressure is increased to improve grasp strength, then objects can be held more securely, but delicate objects may be damaged
Solution Approach 1:
The gripping function is segmented between the vacuum portion and the gripping portion. The vacuum portion provides distributed adhesive force across a larger surface area, reducing localized pressure on delicate objects. The gripping portion provides additional mechanical support through orthogonal engagement, allowing the system to achieve secure grasping without requiring excessive vacuum pressure that could damage sensitive objects.
Solution Approach 2:
The vacuum portion utilizes a flexible suction cup structure that can conform to the object surface, distributing the vacuum force evenly across the contact area. This flexible approach prevents concentrated stress points that could damage delicate objects, while still providing sufficient grasp force through the distributed vacuum pressure.
3Force
If finger-based grippers are used to grasp objects, then mechanical grip strength is improved, but the system becomes mechanically complicated requiring multiple parts and actuation mechanisms
Solution Approach 1:
The end effector merges multiple gripping functions into a single integrated structure. The vacuum portion, gripping portion, and lid containment portion are combined into one unified end effector that can be actuated by a single actuator on the robotic arm. This integration provides mechanical grip strength through the orthogonal gripping portion and lid containment features without requiring separate finger-based actuation mechanisms for each gripping element.
Solution Approach 2:
The end effector is designed as a universal tool that can handle various object types including those with lids, flaps, or other features that require stabilization. The multi-functional design incorporates vacuum adhesion, mechanical gripping, and lid containment capabilities in a single device, eliminating the need for multiple specialized grippers or complex interchangeable finger mechanisms.
4Reliability
If suction cups are selected to match specific objects, then seal quality is improved, but adaptability to different object types is reduced
Solution Approach 1:
The end effector is designed as a universal tool that can handle various object types including boxes, containers, and objects with lids or flaps. The orthogonal configuration allows the vacuum portion to engage with different object surfaces while the gripping portion and lid containment portion provide additional stabilization for diverse object geometries, maintaining adaptability without sacrificing seal quality through the vacuum portion's conformable design.
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
Effectively grasps and transports objects with low pose authority, maintaining stability and preventing contents from escaping, even when lifted from different sides, enhancing the efficiency of automated object processing systems.
Implementation Method 1
a vacuum portion through which a vacuum is applied to an object
Data Source
AI summary
An end-effector is disclosed for a programmable motion device. The end effector includes a body that includes a vacuum portion through which a vacuum is applied to an object, and a gripping portion that is adapted to engage the object, the vacuum portion being generally orthogonal to the gripping portion.