Robot Gripper Positioning Using Imaging Data for Dense Sample Racks
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Solution Overview
Problem
Existing gripper systems in automated testing and processing systems face challenges in accurately positioning specimen containers due to varying sizes and orientations, leading to jams, collisions, and jarring, which can cause damage and downtime.
Innovation Solution
A method and apparatus that dynamically adjust the gripper finger opening distance, X and Y positioning, and rotational orientation based on imaging data of the sample rack to minimize interference with surrounding containers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the gripper uses fixed opening distance and positioning for all specimen containers, then the device complexity is reduced, but the manufacturing precision and reliability deteriorate due to varying container sizes and orientations causing jams and collisions
Solution Approach 1:
The gripper system dynamically adjusts its opening distance and positioning based on real-time imaging data of each specimen container. The controller modifies gripper parameters (opening distance, X-Y positioning, rotational orientation) according to the specific dimensions and orientation detected for each container, transforming a static system into an adaptive dynamic one that maintains high precision without excessive complexity
Solution Approach 2:
The system changes physical parameters of the gripper operation based on detected container characteristics. Imaging data reveals container size and orientation, which directly determines the gripper's opening distance, position, and rotation angle. This parameter adaptation allows the same gripper mechanism to handle varying container specifications with high precision
2Ease of operation
If the gripper is positioned at the theoretical center location for all receptacles, then the ease of operation is improved, but the reliability worsens due to interference with surrounding containers in tightly spaced racks
Solution Approach 1:
Instead of applying a universal center-positioning rule to all receptacles, the system determines the optimal gripper position and opening distance for each specific receptacle location based on its local environment. The imaging system identifies which receptacles are occupied and calculates clearance distances to surrounding containers, allowing the gripper to be positioned and opened to appropriate distances for each local context, ensuring reliable operation in tightly spaced racks
3Ease of operation
If the gripper opening distance is maximized for all operations, then the ease of operation is improved, but the reliability deteriorates due to increased likelihood of jams and collisions with surrounding containers
Solution Approach 1:
The gripper opening distance is dynamically adjusted based on the detected configuration of surrounding containers. For receptacles with ample clearance, the gripper opens to a larger distance for ease of operation. For receptacles surrounded by other containers, the system calculates the maximum safe opening distance that avoids interference, thus maintaining reliability while still enabling effective grasping
Data Source
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AI summary
Methods of positioning a gripper to pick or place a specimen container from a sample rack. One method includes providing a robot including the gripper, the gripper moveable in a coordinate system by the robot and including gripper fingers, providing a sample rack including receptacles containing specimen containers, providing data, obtained by imaging, regarding the specimen containers in the sample rack, and dynamically orienting the gripper based upon the data. The data may include population and/or configuration data and the dynamic orientation may include gripper finger opening distance, gripper finger rotational position, and/or gripper offset distance. Gripper positioning apparatus for carrying out the method are disclosed, as are other aspects.