Logistics Robotic End Effector with Adjustable Gripping Mechanism
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Solution Overview
Problem
Current end effectors for robotic systems face inefficiencies and inaccuracies when handling objects of varying sizes and arrangements, often causing structured objects to become unstructured during loading and unloading, and struggle to apply consistent force across different objects.
Innovation Solution
An end effector with a frame assembly and gripping mechanism featuring adjustable grasping arms and longitudinal actuation, allowing for independent movement and reconfiguration to securely engage objects, maintain structural integrity, and apply consistent force across different objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional end effector is used to handle objects of varying sizes and arrangements, then the device can be simple in structure, but the reliability and consistency of applying force to objects deteriorates
Solution Approach 1:
The end effector employs a dynamic gripping mechanism with independently movable grasping elements that can adjust their position and applied force based on object characteristics. The mechanism includes actuators that enable real-time adaptation of gripping force and element positioning, allowing consistent force application across objects of varying sizes while maintaining a relatively simple overall structure.
Solution Approach 2:
The end effector changes physical parameters such as gripping force magnitude, grasping element spacing, and element position to adapt to different objects. The system dynamically adjusts these parameters based on detected object characteristics, enabling reliable and consistent force application without requiring complex structural modifications for each object type.
2Adaptability or versatility
If a fixed configuration end effector is used, then the device complexity is reduced, but the adaptability to handle different objects deteriorates
Solution Approach 1:
The end effector incorporates dynamically adjustable grasping elements that can change their configuration based on object characteristics. The mechanism includes movable components with actuators that enable real-time adaptation to different object sizes, shapes, and arrangements, providing high versatility without requiring multiple specialized end effectors.
Solution Approach 2:
The end effector design integrates multiple functions within a single device, including detection, gripping, and force application capabilities that work together to handle various objects. The universal design allows the same end effector to effectively handle different object types through coordinated action of its components rather than requiring object-specific configurations.
3Manufacturing precision
If conventional gripping mechanisms are used, then the ease of manufacture is improved, but the precision of engaging with objects deteriorates
Solution Approach 1:
The gripping mechanism uses dynamically adjustable elements with controlled movement along defined paths, enabling precise engagement with objects of varying sizes. The mechanism incorporates actuators and guide structures that ensure accurate positioning while using standard manufacturing techniques, balancing manufacturing precision with ease of fabrication.
Data Source
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AI summary
Various embodiments are directed to methods, apparatuses, and systems for operating logistic robotic systems. In various embodiments, an end effector configured to selectively engage an object may comprise a frame assembly; and a gripping mechanism configured to grasp the object using one or more grasping element, the one or more grasping element being configurable between an open configuration and an activated configuration; wherein the gripping mechanism is independently moveable relative to the frame assembly in one or more directions; and wherein the end effector is configured to engage the object such that the frame assembly contacts a first portion of the object, and the gripping mechanism contacts a second portion of the object. Further, various embodiments are directed to a system for handling an object within a handling environment comprising an end effector configured to selectively engage the object and a controller communicatively connected with the end effector.