Multi-Modal Robotic End Effector With Suction Cup Fingers
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Solution Overview
Problem
Robotic end effectors face challenges in reliably grasping objects of diverse shapes, textures, and sizes due to inherent limitations, necessitating an improved, versatile robotic end effector with enhanced picks per hour (PPH).
Innovation Solution
A robotic end effector comprising a palm and multiple robotic fingers with suction cups connected via revolute joints, allowing for rotational and translational movement, enabling multi-modal grasping modes such as parallel, single-suction, multiple-suction, pinching-with-suction, and unpinching-with-suction, without the need for multiple end effectors or manipulators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple single-modal robotic end effectors or manipulators are used to handle diverse objects, then the capability to grasp various object types is improved, but the system complexity increases and picks per hour decreases
Solution Approach 1:
The robotic end effector integrates multiple grasping modes (parallel jaw gripper, suction cup gripper, hybrid combinations) within a single device. The fingers can operate as traditional parallel jaw grippers for mechanical grasping, or switch to suction cup mode for vacuum-based holding, or combine both approaches. This multi-functionality allows one end effector to replace multiple specialized tools, reducing system complexity while maintaining high adaptability across diverse object types and surfaces
Solution Approach 2:
The end effector employs dynamic switching capability between different grasping modes through controllable joints and actuators. The fingers can dynamically adjust their configuration - opening/closing for parallel jaw grasping, or activating/deactivating suction cups for vacuum-based holding. This dynamic adaptability enables the system to respond to different object characteristics in real-time without physical tool changes, thereby reducing complexity and improving productivity
2Adaptability or versatility
If multiple single-modal robotic end effectors are used to handle diverse objects, then the capability to grasp various object types is improved, but the picks per hour decreases
Solution Approach 1:
By consolidating multiple grasping capabilities into a single multi-functional end effector, the system eliminates the need to physically exchange tools between different grasping tasks. The unified device can switch between parallel jaw and suction cup modes instantly, maintaining continuous operation and improving picks per hour while handling diverse objects
Solution Approach 2:
The dynamic mode-switching capability allows the end effector to adapt its grasping strategy based on object characteristics without interrupting the workflow. The system can rapidly transition between different grasping modes to optimize for speed and accuracy, thereby increasing productivity while maintaining high adaptability
3Device complexity
If traditional robotic end effectors are used, then the structure is simple, but the capability to handle diverse objects with different shapes, textures and sizes is limited
Solution Approach 1:
The end effector is segmented into functionally independent components - multiple fingers with independent actuation, separate suction cup units, and controllable joints. This segmentation allows each component to be optimized for specific functions while enabling flexible combinations. The modular structure provides simplicity in individual components while achieving high versatility through their coordinated operation
Solution Approach 2:
The segmented components are designed to work in multiple configurations - fingers can function as parallel jaw grippers, suction cups can provide vacuum holding, or they can combine both approaches. This universal design allows a single end effector structure to handle diverse objects with different shapes, textures, and sizes, overcoming the limitations of traditional single-mode effectors
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
The solution enhances dexterity and versatility, allowing the end effector to handle a wide range of objects with increased picks per hour (PPH) and simplifies system complexity by minimizing the need for multiple tools or tool changes, while being modular and customizable.
Implementation Method 1
a suction cup configured to be movable about a pivot of the distal end portion
Data Source
AI summary
In one aspect, provided is a robotic end effector, comprising a palm; a plurality of robotic fingers that are operatively connected to the palm, each finger comprising: a finger base having a proximal end portion that is operatively connected to the palm and an opposing, distal end portion; and a suction cup, wherein each of the plurality of fingers is operatively connected to the palm at the proximal end portion and is configured to be rotatable and/or movable relative to the palm, and wherein the suction cup is configured to be movable about a pivot of the distal end portion. Other example embodiments are described herein. In certain embodiments, the disclosure provides a versatile, multi-modal robotic end effector for grasping with enhanced picks per hour (PPH).