Robot Effector Release Control for Adhering Object Wipe-Off
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Solution Overview
Problem
Robot manipulators often fail to completely release objects due to mechanical, magnetic, or electrostatic adhesion forces, leading to operational safety and reliability issues during object handling.
Innovation Solution
Implementing a control program that includes a predefined movement to wipe off adhering objects using a wiping object, optionally with sensor feedback to determine and adapt to the position and orientation of the object, ensuring reliable release and preventing collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a predefined wiping movement is executed after every object release, then the reliability of object release is improved, but the operational time and productivity deteriorate
Solution Approach 1:
The patent employs sensor feedback (optical, capacitive, or force sensors) to detect whether an object is still adhering to the effector after release. The wiping movement is only executed when the sensor detects persisting adherence, rather than unconditionally after every release. This feedback mechanism resolves the contradiction by making the wiping action conditional, thereby maintaining high reliability when needed while preserving productivity when adherence is complete.
2Reliability
If sensor feedback is used to detect persisting adherence, then the reliability of object release is improved, but the device complexity increases
Solution Approach 1:
The patent utilizes the effector's existing sensors (optical, capacitive, or force sensors already present for grasping operations) to detect persisting adherence. Rather than adding dedicated sensors solely for adherence detection, the system repurposes existing sensing capabilities for the additional function of detecting whether an object remains adhered after release. This multi-functional use of existing sensors resolves the contradiction by improving reliability without proportionally increasing device complexity.
3Reliability
If a wiping movement is executed to remove adhering objects, then the reliability of object release is improved, but the energy consumption increases
Solution Approach 1:
The patent executes the wiping movement only partially or selectively - specifically, only when sensor feedback indicates that an object is still adhering to the effector after release. Rather than performing a full wiping cycle after every release, the system applies the wiping action only to the extent necessary to remove persistently adhering objects. This partial action approach resolves the contradiction by consuming energy only when required, thereby maintaining reliability while reducing overall energy consumption.
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
Enhances operational safety and reliability by ensuring complete object release and preventing collisions, although increasing operational time and energy requirements, particularly suitable for high-reliability applications.
Implementation Method 1
the effector is passed by a wiping object in such a manner that any object possibly still adhering to the effector is wiped off on the surface or the edge of the wiping object
Data Source
AI summary
A robot having a robot manipulator with an effector, wherein the robot manipulator is designed and constructed for picking up, handling, and releasing an object and is controlled by a control unit, the robot including a first sensor means designed and constructed to determine a persisting adherence of the object to an effector after a release of the object by the effector, and where such an adherence persists, to generate a signal S, wherein when a signal S is present, the control unit is designed and constructed to control the robot manipulator in such a manner that it executes a predefined movement B in which the effector with the persistently adhering object is passed by a wiping object in such a manner that the adhering object is wiped off the effector on a surface or an edge of the wiping object.