Rigid Appendage Manipulation of Deformable Objects
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Solution Overview
Problem
Existing robotic systems for manipulating deformable objects, such as food items, are often mechanically complex and difficult to adopt in food processing settings where food safety is paramount. Current solutions, including soft grippers, lack the dexterity and control required for efficient manipulation of deformable objects.
Innovation Solution
A system comprising a baseplate and at least one appendage actuation module, which includes a rigid and elongate appendage, a platform, and one or more actuation devices. The actuation devices enable the appendage to move in at least three degrees of freedom, including linear translation and rotation, allowing for precise manipulation of deformable objects along multiple axes of motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple articulated joints or active surfaces are used in robotic end effectors to achieve dexterous manipulation of deformable objects, then manipulation capability is improved, but device complexity increases
Solution Approach 1:
The robotic system is divided into modular end effectors, each with a specific function (grasping, cutting, peeling). Each effector consists of simple rigid components rather than complex articulated structures, allowing dexterous manipulation through coordinated use of multiple simple modules rather than single complex joints
Solution Approach 2:
The system achieves 3D manipulation capability not through complex 3D articulated joints but by coordinating multiple 1-DOF rigid appendages in three-dimensional space. The spherical joint linkage enables rotation about multiple axes while maintaining simple individual component structures
2Device complexity
If soft grippers are used to simplify the mechanical structure, then device complexity is reduced, but manipulation dexterity and control capability deteriorate
Solution Approach 1:
Multiple simple rigid end effectors are combined into a single integrated system that can perform complex manipulation tasks. The spherical joint linkage merges multiple rotation capabilities into one mechanism, achieving dexterity through coordination of simple components rather than using complex soft materials
Solution Approach 2:
The spherical joint linkage acts as an intermediary mechanism that translates simple linear actuation into complex rotational motion. This mediator enables rigid appendages to achieve the flexibility and dexterity typically associated with soft grippers, while maintaining mechanical simplicity and rigidity
3Device complexity
If underactuated soft grippers are used to achieve simplicity, then device complexity is reduced, but the ability to reposition items in-grasp deteriorates
Solution Approach 1:
The rigid appendages with spherical joint linkages can dynamically adjust their configuration and reposition items in-grasp through coordinated actuation. The system transitions from static grasping to dynamic manipulation, allowing the appendages to move and adjust their positions while maintaining contact with the deformable object
Solution Approach 2:
Force-torque sensors provide real-time feedback on contact forces during manipulation. This feedback enables the control system to adjust actuation commands dynamically, allowing the rigid appendages to reposition items in-grasp by sensing and responding to changes in contact forces and object position
Data Source
AI summary
A system, method, and means for manipulating deformable objects are provided. The system may comprise a baseplate and at least one appendage actuation module configured to mount on the baseplate. The at least one appendage actuation module may include an appendage of rigid and elongate construction, a platform, and at least one actuation device. The at least one actuation device may be in coupled arrangement with the appendage and the platform to cause the appendage to move in at least three degrees-of-freedom, at least including an axis of linear translation and an axis of rotation, with respect to the baseplate. The at least one appendage actuation module may be capable of actuating the appendage with sufficient force to manipulate the deformable objects along a plurality of degrees of motion, at least including three axes of rotation. Embodiments may be useful for robotic automation in food processing or assistive technologies.