Robotic End Effector with Virtual Pivot Gripper
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Solution Overview
Problem
Existing robotic positioners with end effectors face challenges in efficiently forming multi-panel boxes due to cumbersome, heavy end effectors with limited control over folding/unfolding operations, and payload limitations.
Innovation Solution
The development of an end effector with a frame, first and second gripper members, and an actuator arrangement that allows for rotational movement about a virtual pivot, enabling precise control over the folding/unfolding of panels and adjusting the gripping zone's volume.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional end effectors are used to manipulate multi-panel boxes, then the robotic positioner can perform basic folding/unfolding tasks, but the end effector becomes cumbersome and heavy, reducing the robotic positioner's payload capacity
Solution Approach 1:
The end effector is divided into multiple independent gripper members (first gripper member, second gripper member) that can move relative to each other. Each gripper member can independently engage with different panels of the box, allowing distributed manipulation rather than a single heavy gripping mechanism. This segmentation reduces the effective weight burden on any single component while maintaining operational capability.
Solution Approach 2:
The end effector employs dynamic movement between gripper members through actuators, allowing the gripping zone volume to vary during operation. The gripper members can transition between closed positions (for secure gripping) and open positions (for panel manipulation), creating a dynamic system that adapts to different task requirements rather than relying on a static, heavily-built structure.
2Ease of operation
If traditional end effectors are used, then the robotic positioner can manipulate boxes, but the end effectors have limited control over the folding/unfolding of panels during manipulation
Solution Approach 1:
The end effector utilizes dynamic positioning of multiple gripper members along arcuate paths, allowing continuous adjustment of the gripping zone volume during panel manipulation. This dynamic capability enables precise control over folding and unfolding operations without requiring an overly complex mechanical structure, as the control is achieved through coordinated movement rather than complex linkages.
Solution Approach 2:
The virtual pivot acts as an intermediary concept that coordinates the movement of multiple gripper members. By defining a virtual pivot point and arcuate paths relative to it, the system achieves coordinated control of panel folding/unfolding through a simplified geometric relationship rather than complex mechanical constraints.
3Productivity
If the end effector is designed for precise control, then the robotic positioner can efficiently form multi-panel boxes, but the end effector may exceed the robotic positioner's payload capacity
Solution Approach 1:
The end effector is segmented into multiple lighter gripper members that perform distributed manipulation tasks, rather than a single heavy component. This segmentation allows the system to achieve precise control and high productivity through coordinated action of multiple lightweight elements, keeping the total weight within payload capacity.
Solution Approach 2:
The end effector employs dynamic movement and variable gripping zone volume to achieve efficient box formation. The actuators enable controlled transitions between different gripping and manipulation states, allowing precise control without requiring excessive structural mass. The dynamic adaptation to task requirements maximizes productivity while minimizing weight.
Data Source
AI summary
There is disclosed an end effector for a robotic positioner. The end effector has a frame adapted to connect to the robotic positioner, the frame defining a guide. A first gripper member is connected the frame and a second gripper member defines a follower operatively engaged to the guide, an engagement between the follower and the guide constraining the second gripper member to movement in at least one rotational movement about a virtual pivot spaced away from the first gripper member, the second gripper member, the follower and the guide. At least one actuator is connected to the second gripper member for moving the second gripper member toward and away from the first gripper member in the rotational movement.