Palm-Mounted 3D Robotic Gripper for Precise Small-Object Handling
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Solution Overview
Problem
Autonomous robots face challenges in accurately perceiving and manipulating small objects due to insufficient resolution in existing optical systems, calibration errors, and the need for varying gripper stiffness, which limits their ability to perform tasks like screwing and drilling with precision and efficiency.
Innovation Solution
A robotic gripper system with integrated 3D perception and object manipulation capabilities, featuring a palm with mounted cameras, a light projector, and actuators, allowing for real-time object localization and adjustable stiffness through independently controlled fingers, enabling precise grasping and manipulation of objects within a workspace.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If optical systems are mounted above the robot's workspace, then the robot can perceive objects, but the resolution is insufficient for small objects and the robot must move outside the work cell increasing cycle time
Solution Approach 1:
The patent transitions from mounting optical systems above the workspace (vertical dimension) to integrating sensors directly on the end effector (horizontal dimension at object level), enabling high-resolution perception without moving the robot outside the work cell
Solution Approach 2:
The patent introduces an intermediary optical system mounted on the end effector that acts as a bridge between the robot and objects, providing both close-proximity high-resolution sensing and maintaining the robot within the work cell boundaries
2Measurement precision
If a single optical sensor is mounted close to the end effector, then calibration errors are reduced and sensing accuracy improves, but the workspace is reduced and collision risk increases
Solution Approach 1:
The patent segments the sensing function from the main robot body and places it on the end effector, allowing the optical system to be positioned close to objects without interfering with the overall workspace of the robot arm
Solution Approach 2:
The patent repositions the optical system from the robot body to the end effector, changing the spatial dimension of sensor placement to achieve close-proximity sensing while maintaining adequate workspace through proper mechanical design
3Measurement precision
If the robotic gripper is made stiff to transduce forces accurately, then force measurement is improved, but the gripper cannot adapt to different manipulation tasks requiring varying compliance
Solution Approach 1:
The patent implements dynamic stiffness control in the gripper, allowing it to transition between stiff and compliant states based on task requirements, while maintaining accurate force measurement through integrated sensors and adaptive control algorithms
Solution Approach 2:
The patent changes the physical parameter of gripper stiffness dynamically through material selection and mechanical design, enabling the same gripper structure to exhibit different compliance levels for different manipulation tasks while maintaining measurement accuracy
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
The system enhances the robotic gripper's ability to accurately perceive and manipulate small objects with high precision, reducing cycle time and improving dynamic interaction with the environment by providing improved perception, gripping, and computational capabilities.
Implementation Method 1
at least one light projector mounted to, on or in, or connected operably, to the palm and configured to illuminate at least partially with light having predetermined characteristics the one or more objects located within the workspace or target volume
Implementation Method 2
at least two camera sensors mounted to, on or in, or connected operably to, the palm and configured and positioned to sense at least one of reflected and backscattered light having the predetermined characteristics and originating from the light projector
Data Source
AI summary
Disclosed are various embodiments of a three-dimensional perception and object manipulation robot gripper configured for connection to and operation in conjunction with a robot arm. In some embodiments, the gripper comprises a palm, a plurality of motors or actuators operably connected to the palm, a mechanical manipulation system operably connected to the palm, a plurality of fingers operably connected to the motors or actuators and configured to manipulate one or more objects located within a workspace or target volume that can be accessed by the fingers. A depth camera system is also operably connected to the palm. One or more computing devices are operably connected to the depth camera and are configured and programmed to process images provided by the depth camera system to determine the location and orientation of the one or more objects within a workspace, and in accordance therewith, provide as outputs therefrom control signals or instructions configured to be employed by the motors or actuators to control movement and operation of the plurality of fingers so as to permit the fingers to manipulate the one or more objects located within the workspace or target volume. The gripper can also be configured to vary controllably at least one of a force, a torque, a stiffness, and a compliance applied by one or more of the plurality of fingers to the one or more objects.