Robotic Finger With Adjustable Parallel Jaws For Object Analysis
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Solution Overview
Problem
Current object manipulation systems face inefficiencies and lack repeatability in object analysis, requiring innovative automated solutions for precise and reliable manipulation.
Innovation Solution
An automated object manipulation system with robotic fingers offering five degrees of freedom, controlled by a processor with modules for preprogrammed manipulation, utilizing drive motors, position encoders, and sensors to position and align objects for accurate analysis, and featuring adjustable parallel jaws for secure grip and varied object handling.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automated object manipulation systems are implemented, then productivity and repeatability are improved, but device complexity increases
Solution Approach 1:
The robotic finger is divided into multiple independent degrees of freedom (five distinct DOFs), each controlled by separate actuators. This segmentation allows complex manipulation tasks to be broken down into manageable rotational and linear movements, improving productivity while keeping each control module relatively simple and modular.
Solution Approach 2:
The robotic finger with five degrees of freedom serves multiple functions: grasping objects, positioning them precisely, orienting them at various angles, and maintaining secure grip. This multi-functionality consolidates what would otherwise require multiple separate devices, improving productivity without proportionally increasing overall system complexity.
2Manufacturing precision
If robotic fingers with five degrees of freedom are used, then manipulation precision and object positioning accuracy are improved, but device complexity and cost increase
Solution Approach 1:
Each degree of freedom is implemented as a separate modular actuator with its own encoder and control circuitry. This segmentation enables precise control of each movement dimension independently, achieving high positioning accuracy while allowing for modular replacement and simplified debugging of individual components.
Solution Approach 2:
Position encoders are integrated into each degree of freedom to provide real-time feedback on the actual position of the robotic finger. This feedback enables closed-loop control, ensuring that the finger reaches and maintains the desired position with high precision, thereby justifying the increased device complexity through superior manipulation accuracy.
3Adaptability or versatility
If adjustable parallel jaws are implemented, then adaptability to different objects is improved, but device complexity increases
Solution Approach 1:
The parallel jaws are designed with adjustable positioning mechanisms that allow their separation distance to be dynamically changed according to the size and shape of the object being manipulated. This dynamic adjustability enables the same jaw mechanism to handle a wide variety of objects with different dimensions, improving adaptability without requiring multiple specialized jaw sets.
Solution Approach 2:
The adjustable parallel jaw mechanism serves as a universal gripping interface that can accommodate multiple object types and sizes. By integrating this adjustable mechanism into the robotic finger, the system gains versatility in object handling while consolidating what would otherwise require multiple specialized end-effectors, thereby managing device complexity efficiently.
Data Source
AI summary
An apparatus of an automated object manipulation system includes a support base; a finger assembly mechanically coupled to the support base; a first drive unit operable to rotate the finger assembly about a first axis; a second drive unit operable to rotate the finger assembly about a second axis; a third drive unit operable to rotate the finger assembly about a third axis, and a processor capable of conducting a profile assessment; determining a manipulation program in response to the profile assessment; and controlling the finger assembly in response to the manipulation program where the finger assembly has a support bracket with a set of parallel jaws and the support bracket is mechanically coupled to the first drive unit, a linking bracket mechanically coupled to the second drive unit and a circular frame mechanically coupled to the finger assembly and the third drive unit.