Multi-Mode Robotic End Effector for Suction-Clamp Grasping

Solution Overview

Problem

Robotic arms with traditional end effectors face challenges in grasping objects with irregular surfaces or those that are heavy, as suction-based end effectors may not be effective for all objects, leading to inefficiencies and potential damage.

Innovation Solution

A multi-mode robotic end effector that can switch between suction and clamping modes based on object attributes, using sensors and computer vision to determine the best grasp strategy and transition between modes as needed.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a suction-based end effector is used to grasp objects, then lighter objects with flat surfaces can be grasped effectively, but heavy objects with irregular surfaces cannot be grasped reliably

Engineering Contradiction:

Improvegrasping reliabilityVSAvoidobject type adaptability

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The end effector integrates both suction-based grasping and clamping-based grasping capabilities into a single device. The system can switch between suction mode (using vacuum pads) and clamping mode (using mechanical fingers) depending on the object characteristics, making it universally applicable to both light flat objects and heavy irregular objects without requiring multiple separate end effectors

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The end effector employs dynamic mode switching between suction and clamping based on real-time object detection. The system uses sensors and computer vision to identify object attributes (weight, surface regularity) and dynamically transitions between grasping modes during operation, allowing the same end effector to adapt its grasping strategy to different object types

Inventive Principle:

Principle #15Dynamics

2Adaptability or versatility

If a gripper-based end effector is used to grasp heavy objects with irregular surfaces, then reliable grasping can be achieved, but it is less effective for lighter objects with flat surfaces

Engineering Contradiction:

Improveobject type adaptabilityVSAvoidgrasping reliability

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The end effector integrates both suction-based grasping and clamping-based grasping capabilities into a single device. The system can switch between suction mode (using vacuum pads) and clamping mode (using mechanical fingers) depending on the object characteristics, making it universally applicable to both light flat objects and heavy irregular objects without requiring multiple separate end effectors

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The end effector employs dynamic mode switching between suction and clamping based on real-time object detection. The system uses sensors and computer vision to identify object attributes (weight, surface regularity) and dynamically transitions between grasping modes during operation, allowing the same end effector to adapt its grasping strategy to different object types

Inventive Principle:

Principle #15Dynamics

3Productivity

If a single-mode end effector is used, then the device complexity is low, but the productivity decreases due to mode switching requirements

Engineering Contradiction:

Improvehandling efficiencyVSAvoidend effector complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The patent combines suction-based grasping mechanisms and clamping-based grasping mechanisms into a single integrated end effector assembly. Both suction pads and mechanical clamping fingers are mounted on the same robotic end effector, allowing the system to handle diverse objects without changing equipment, thereby improving productivity while accepting increased device complexity

Inventive Principle:

Principle #5Merging (Combining)

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

Enables efficient and secure grasping of a variety of objects by selecting the appropriate mode of operation, minimizing damage and improving handling efficiency across different surfaces and weights.

Implementation Method 1

A robotic control system applies a vacuum under robot control to grasp and object by suction

Methodology Applied

Scientific EffectSuction: Suction

Implementation Method 2

a gripper or other clamping force-based end effector may be provided and used to grasp an object, such as by applying force on the object from two or more sides using an amount of force sufficient to lift the object without slippage

Methodology Applied

Scientific EffectMechanical Force: Mechanical Force

Data Source

PatentUS20220297312A1Multi-mode robotic end effector

Publication Date: 2022.09.22 DEXTERITY INC

AI summary

A multi-mode robotic end effector is disclosed. In various embodiments, a multi-mode robotic end effector includes a first set of structures configured to grasp objects in a first mode of operation; a retraction mechanism configured to retract the first set of structures to a stowed position associated with a second mode of operation in response to a retraction command; and a second set of structures configured to grasp objects in a second mode of operation.