Robotic End Effector Backstop Structure for Stable Bag Grasping
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Solution Overview
Problem
Conventional robotic end effectors struggle to securely grasp compliant objects like bagged items due to slipping or shifting, which can damage the products and result in unstable grasping, especially during acceleration or deceleration.
Innovation Solution
The use of soft robotic actuators in conjunction with stabilization structures, such as a centralized back-stop, allows for a more delicate and adaptive grasp by distributing force over a larger surface area and providing a backstop against which the actuator can squeeze the bag or product, maintaining stability with lower inflation pressure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional robotic fingers grasp a compliant object tightly, then the object does not slip or shift, but the products contained in the bag or wrapping may be damaged
Solution Approach 1:
A stabilization structure acts as an intermediary element between the robotic fingers and the compliant object. The fingers grasp the stabilization structure rather than directly grasping the compliant object, providing a stable reference point that prevents slipping and shifting while distributing forces to avoid damaging the contained products.
Solution Approach 2:
The stabilization structure provides localized structural support at specific contact points with the robotic fingers, while allowing the rest of the compliant object to maintain its natural compliance. This localized reinforcement enables stable grasping without requiring the entire object to be rigid, thus preventing product damage.
2Object-affected harmful factors
If conventional robotic fingers grasp a compliant object loosely, then the products are not damaged, but the object slips or shifts during movement
Solution Approach 1:
The stabilization structure serves as a mediator that the robotic fingers grasp firmly while the compliant object is held gently. This intermediary allows the fingers to maintain a secure grip on the stabilization structure itself, preventing slipping and shifting during acceleration and deceleration, while the compliant object remains protected.
Solution Approach 2:
The stabilization structure adds a new dimensional element to the grasping system - a rigid or semi-rigid framework that extends into the space between the compliant object and the robotic fingers. This additional structural dimension provides leverage and stability without requiring direct firm contact with the compliant object.
3Adaptability or versatility
If the bag or wrapping is filled with shifting product, then the object can be contained, but forces are applied unevenly making it difficult to grasp securely
Solution Approach 1:
The stabilization structure acts as an intermediary that absorbs and distributes the uneven forces generated by shifting products. By grasping the stabilization structure rather than the compliant bag directly, the robotic system achieves stable control even when the internal product shifts and creates variable force distributions.
Solution Approach 2:
The stabilization structure provides pre-established structural support that cushions against the effects of shifting products. This预先建立的支撑结构 absorbs and redistributes forces before they can cause grasping failures, maintaining stability despite internal movements of the contained product.
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
This solution enhances the stability of grasping compliant objects during movement, reduces the risk of slipping, and allows for effective handling of various shapes and sizes without damaging the objects, while also enabling efficient redistribution of contents within the bag for a secure grip.
Implementation Method 1
The use of soft robotic actuators in conjunction with stabilization structures, such as a centralized back-stop, allows for a more delicate and adaptive grasp by distributing force over a larger surface area
Implementation Method 2
providing a backstop against which the actuator can squeeze the bag or product, maintaining stability with lower inflation pressure
Data Source
Figure 1A~1B
Figure 1C~1D
Figure 2A~2D
AI summary
Various stabilization devices for a robotic end of arm tool, such as a robotic gripper, are described. The stabilization device is provided in a palm area of the end of arm tool and serves as a backstop against which actuators of the end of arm tool can push a compliant or slick target object. The stabilization device may take many any of a variety of shapes, depending on the applications. Based on the shape of the stabilization device and the action of the robotic gripper on the target object, the target object can be moved or rotated in a more stable configuration, thus allowing the actuators to apply less force while still maintaining a firm grasp of the object.