Robotic End Effector With Frangible Grips for Collision Protection
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Solution Overview
Problem
Conventional robotic processing systems face challenges in preventing damage to end effectors and objects due to unintended contact, which can lead to excessive force and increased complexity with the use of sensors for object detection.
Innovation Solution
The implementation of frangible compliant workpiece engagement members that detach from the end effector when a predetermined force is exerted, allowing for 'snap on' reattachment and eliminating the need for object detection sensors, thereby preventing damage and reducing system complexity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional compliant robotic arms with break away features are used, then the risk of damage to end effector and object is partially mitigated, but excessive force is still exerted causing damage
Solution Approach 1:
The end effector is divided into modular components including frangible members that can detach from the main body. This segmentation allows the system to sacrifice only the frangible member during unintended contact, preventing damage to both the object and the main end effector structure.
Solution Approach 2:
The frangible members are designed with specific mechanical properties including predetermined break forces and compliant characteristics. By carefully controlling the break force parameter to be less than the damage threshold force, the system ensures that unintended contact results in member detachment rather than damage.
2Reliability
If object detection sensors are added to prevent damage, then operational safety is improved, but system complexity and cost increase
Solution Approach 1:
The frangible members provide passive safety through their inherent mechanical design rather than active sensing and control systems. When unintended contact occurs, the members automatically detach based on force thresholds, eliminating the need for sensors, control algorithms, and associated system complexity.
Solution Approach 2:
The frangible members are designed as disposable or easily replaceable components that protect the more valuable end effector and object. This approach trades the cost of replacing simple frangible members against the complexity and cost of implementing sensor-based detection and control systems.
3Force
If rigid end effector members are used, then gripping force is maintained, but damage occurs during unintended contact
Solution Approach 1:
The end effector employs a hybrid structure where frangible members provide rigid gripping capability when needed, but are designed to fail in a controlled manner during unintended contact. This local differentiation of mechanical properties allows the system to maintain gripping force while limiting damage risk through the compliant and breakable characteristics of specific members.
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 prevents distortion and damage to the end effector, the transport robot, and objects within the collaborative operating space, while maintaining precise gripping and reattachment without the need for additional sensors, enhancing operational safety and efficiency.
Implementation Method 1
at least one of the workpiece engagement members is frangible compliant, having a frangible compliant coupling between a distal portion of the at least one of the workpiece engagement members and a base portion of the end effector
Implementation Method 2
compliant robotic arms that have break away features may help mitigate the risk of damage to the end effector and/or object
Data Source
AI summary
A robotic transport system including a drive section connected to a frame, an articulated arm operably coupled to the drive section providing the articulated arm with arm motion in at least one axis of motion moving at least a portion of the articulated arm in a collaborative space, corresponding to the frame, from a first location to another different location in the collaborative space, the articulated arm having an end effector with a workpiece grip having workpiece engagement members engaging and holding a workpiece during workpiece transport, by the arm motion in the at least one axis of motion, wherein at least one of the workpiece engagement members is frangible compliant, having a frangible compliant coupling between a distal portion of the at least one of the workpiece engagement members and a base portion of the end effector from which the at least one of the workpiece engagement members depends.