Robot Support Stand for Object Reorientation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Robotic systems face challenges in efficiently reorienting objects to achieve specific target poses due to limitations in their range of motion and interference with the environment or themselves, especially when objects need to be grasped in different orientations for proper placement.
Innovation Solution
A robotic device employs a support stand to maintain the orientation of objects, allowing the robotic manipulator to reorient them by picking up the object in a first orientation, placing it on the stand, and then picking it up again in a second orientation suitable for the target pose, enabling efficient movement to the desired position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If the robotic manipulator directly moves the object from the first orientation to the target pose, then the task completion time is reduced, but the range of motion limitations and environmental interference prevent successful reorientation
Solution Approach 1:
The support stand serves as an intermediary device between the robotic manipulator and the object. The manipulator places the object on the support stand in a first orientation, and the support stand maintains this orientation while the manipulator repositions to pick up the object in a second orientation. This intermediary structure enables reorientation that would otherwise be impossible due to manipulator range of motion limitations.
2Manufacturing precision
If the robotic manipulator reorients the object using the support stand, then the placement precision is improved, but the number of operations increases
Solution Approach 1:
The support stand is pre-configured with specific geometric features (ridges, grooves, inclined surfaces) that automatically guide and maintain the object in predetermined orientations. When the manipulator places the object on the support stand, the stand's structure automatically orients the object correctly, eliminating the need for complex active reorientation mechanisms and ensuring precise placement.
3Productivity
If the robotic manipulator directly places the object in the target pose, then the task efficiency is high, but environmental interference and self-interference cause failures
Solution Approach 1:
The reorientation task is segmented into distinct phases: (1) placing the object on the support stand in a first orientation, (2) the manipulator retracting and repositioning, and (3) picking up the object in a second orientation for final placement. This segmentation separates operations that would otherwise interfere with each other, allowing the manipulator to avoid collisions with the object and environmental obstacles while maintaining task efficiency.
Data Source
AI summary
An example system includes a robotic device having a robotic manipulator and a support stand. The support stand may receive an object placed thereon in a given orientation and maintain the given orientation. The robotic manipulator may pick up an object in a first orientation with respect to the robotic manipulator and determine a target pose for the object. Based on the determined target pose, a control system may determine to reorient the object with respect to the robotic manipulator using the support stand. The robotic manipulator may place the object on the support stand in a particular orientation and pick up the object, disposed on the support stand in the particular orientation, in a second orientation with respect to the robotic manipulator. While the object is held in the second orientation with respect to the robotic manipulator, the robotic device may move the object to the target pose.