Robotic End-Effector Dual Articulation Clutch Mechanism
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Solution Overview
Problem
Existing end-effectors for robotic arms face challenges in efficiently adjusting to various workpiece designs, particularly those with complex three-dimensional shapes, due to limitations in height extension and swivel angles, and issues with dress packaging that hinder setup flexibility and mobility during operation.
Innovation Solution
A reconfigurable end-effector with a dual articulation mechanism, including first and second branch assemblies and rotary clutches, allows for adjustable tool modules with five degrees of freedom, enabling flexible interaction with workpieces of different profiles by articulating relative to a master boom, and a setup stand facilitates reconfiguration.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If manually adjusting tool modules is used to adapt to different workpiece designs, then adaptability is improved, but setup time increases and errors may occur
Solution Approach 1:
The end-effector employs a dual articulation mechanism with two independent clutches that enable dynamic reconfiguration of branch assemblies and tool modules. The system transitions from static manual adjustment to dynamic automated positioning, allowing rapid adaptation to different workpiece designs through controlled articulation movements rather than manual repositioning
Solution Approach 2:
The patent replaces manual mechanical adjustment with an automated dual clutch articulation system. The first clutch controls articulation of the first branch assembly while the second clutch controls articulation of the second branch assembly, enabling automated positioning and orientation of tool modules to match various workpiece geometries without manual intervention
2Adaptability or versatility
If end-effector with large height extension and swivel angle is designed to handle complex 3D workpieces, then adaptability is improved, but device complexity increases
Solution Approach 1:
The end-effector is segmented into distinct functional components: a master boom, a first branch assembly with its own clutch, a second branch assembly with its own clutch, and multiple tool modules. This segmentation allows each component to be independently articulated and positioned, achieving complex 3D workpiece handling through coordinated movement of simpler individual segments rather than requiring a single overly complex structure
Solution Approach 2:
The dual articulation mechanism employs a nested structure where the first branch assembly and second branch assembly are both attached to the master boom, with each branch assembly containing its own articulated tool modules. This nested arrangement enables multi-degree-of-freedom movement while maintaining a compact hierarchical structure that manages complexity through organized sub-assemblies
3Device complexity
If flat end-effector frame with straight boom is used, then device simplicity is maintained, but interference with dies and machine frames occurs during workpiece movement
Solution Approach 1:
The master boom and branch assemblies are designed with dynamic articulation capabilities through the dual clutch mechanism. This allows the end-effector to change its configuration dynamically during operation, articulating branches and tool modules to navigate around dies and machine frames rather than following a fixed straight path, thereby eliminating interference while maintaining structural simplicity
4Stability of the object's composition
If dress packages with tied-wrapped hoses are used, then neat appearance is achieved, but reconfiguration flexibility is reduced
Solution Approach 1:
The dress package system replaces static tied-wrapped hose arrangements with a dynamic routing mechanism that allows hoses and power cables to move freely with the articulated tool modules. The dress package structure itself can articulate and reconfigure along with the end-effector components, maintaining organized cable management while enabling full reconfiguration flexibility for different workpiece designs
Data Source
AI summary
A reconfigurable end-effector attachable to a robotic arm, includes a master boom, a first branch assembly and a second branch assembly, a dual articulation mechanism. The dual articulation mechanism includes a first clutch attached to the first branch assembly and is configured to articulate the first branch assembly relative to the second branch assembly. The dual articulation mechanism further includes a second clutch attached to the master boom, the second branch assembly and the first clutch and is configured to simultaneously articulate the first and second branch assemblies relative to the master boom. The first and second branch assemblies each have limbs connected to branches supporting a plurality of tool modules. Each tool module includes an end element configurable to interact with a workpiece.