Robotic End Effector With Segmented Fingers for Cluttered Object Picking
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Solution Overview
Problem
Existing industrial robots struggle to accurately and precisely identify and retrieve items in cluttered environments, especially when dealing with delicate, soft-bodied objects that require high accuracy and precision to avoid damage.
Innovation Solution
The development of an end effector for a picking robot that includes a shaft with a carriage and suction device, along with radially spaced fingers that can envelop the shaft and target object space, allowing for both suction grasping and mechanical grasping to positively engage items.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If very precise mechanical specifications and small tolerances are used to achieve high accuracy in picking and placing delicate objects, then the success rate increases, but the robot becomes heavy and costly
Solution Approach 1:
The end effector is divided into multiple independent fingers that can move and adjust individually. Each finger can be controlled separately to adapt to different object shapes and sizes, achieving high precision without requiring the entire robot to have extremely tight mechanical tolerances throughout
Solution Approach 2:
The fingers are designed with dynamic capabilities to move between different positions and orientations. The fingers can envelop objects from multiple angles and adjust their grip force dynamically, allowing the system to achieve high accuracy through active adaptation rather than passive precision
2Reliability
If very precise mechanical specifications and small tolerances are used to achieve high accuracy in picking and placing delicate objects, then the success rate increases, but the cost increases
Solution Approach 1:
By segmenting the gripping function into multiple simpler fingers rather than requiring one highly complex precision mechanism, the system achieves comparable or better performance at lower cost. Each finger is a simpler component that can be manufactured more economically
Solution Approach 2:
The end effector with multiple adjustable fingers can handle various types of delicate objects with different shapes and sizes using the same mechanism. This multi-functionality reduces the need for multiple specialized expensive robots for different picking tasks
3Measurement precision
If the robot is designed with high precision for picking delicate objects, then accuracy improves, but the robot loses agility to move through fields
Solution Approach 1:
The precision function is localized to the end effector fingers rather than the entire robot system. This allows the main robot body to remain lighter and more agile for field movement, while only the small end effector requires the precise control needed for delicate object manipulation
Solution Approach 2:
The fingers provide precision through multi-dimensional movement capabilities (enveloping from multiple angles, rotating, extending) rather than relying solely on the robot arm's positional precision. This adds degrees of freedom at the interaction point while keeping the robot body simpler
4Object-affected harmful factors
If the end effector uses only suction device, then it can grasp delicate objects, but it cannot positively engage items in cluttered environments
Solution Approach 1:
The end effector merges suction devices with mechanical fingers into a single integrated system. The suction device provides gentle contact for delicate objects, while the mechanical fingers provide positive engagement capability for cluttered environments. Both mechanisms work together to achieve reliable grasping without damage
Solution Approach 2:
The mechanical fingers act as intermediaries between the suction device and the target object. The fingers can position and orient the suction device accurately, and provide additional mechanical engagement if needed, while the suction device provides the gentle holding force for delicate objects
5Reliability
If the end effector uses only mechanical fingers, then it can positively engage items, but it cannot grasp delicate soft-bodied objects without damage
Solution Approach 1:
The end effector combines mechanical fingers with a suction device where the suction device provides the primary gentle grasping force for delicate objects, while the mechanical fingers provide positioning and support. The mechanical components do not need to apply high forces since the suction does the primary work of holding delicate objects
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 enables the robot to effectively select and grasp objects in cluttered environments with high precision, reducing the risk of damage to delicate items and improving the efficiency of pick and place operations.
Implementation Method 1
The suction device is configured to apply a vacuum to the target object space when the carriage is in the proximal position and in the distal position
Data Source
AI summary
Systems and methods capable of selecting and positively grasping objects of interest within a cluttered environment are described. Some aspects of the present disclosure provide for real-time control of a robot that uses various sensors and reacts to sensor input in real time to adjust the robot's path. In some embodiments, a robotic item picker includes an end effector having a shaft extending along a longitudinal axis between a proximal end and a distal end, a carriage configured to rotate about and translate along an intermediate portion of the shaft between a proximal position and a distal position, a suction device coupled to the distal end of the shaft, and a plurality of fingers spaced radially about the carriage. The robot may be a t-bot including a longitudinal member rotatable about a lengthwise axis of the longitudinal member, a carriage translatable along the lengthwise axis, and a radial member slidably mounted to the carriage. The end effector may be rotatably coupled at a distal end of the radial member.