Robotic Grasp Tool Geometry for Stable Low-Stress Object Handling
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Solution Overview
Problem
Current robotic grasping systems face challenges in achieving stable and non-destructive object manipulation, particularly when dealing with large or heavy objects, as they often result in stress concentrations leading to damage due to small surface area grasps and are sensitive to deviations and non-idealities in real-world settings.
Innovation Solution
The method involves using a set of grasp tools with geometrically advantageous configurations, such as skewed or 'X-shaped' grasp configurations, which facilitate passive stabilization and self-stabilization by distributing contact forces over a larger surface area, reducing the risk of damage and improving stability across various object dimensions and environmental constraints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If small surface area grasps are used, then the grasping system can achieve simpler structure and easier operation, but stress concentrations occur leading to object damage
Solution Approach 1:
The patent divides the grasping system into multiple grasp tools (at least two) that contact different regions of the object simultaneously. Each grasp tool applies force at distributed contact points rather than concentrating stress at a single point, thereby reducing object damage while maintaining structural simplicity
Solution Approach 2:
The patent transitions from single-point or single-line contact to multi-point contact across two-dimensional surfaces of the object. By contacting opposite sides or multiple faces of the object, the system distributes stress across larger surface areas, preventing stress concentration damage
2Device complexity
If conventional grasping configurations are used, then the system structure remains simple, but the system becomes sensitive to deviations and non-idealities in real-world settings
Solution Approach 1:
The patent assigns different functional roles and contact configurations to different grasp tools based on local object characteristics. Each grasp tool is positioned and oriented to contact specific regions of the object, creating a distributed contact network that enhances stability against deviations and non-idealities without requiring complex centralized control
Solution Approach 2:
The patent positions grasp tools to apply counterbalancing forces at opposite sides of the object. This creates a stable force distribution where forces from different grasp tools counteract each other, providing passive stabilization that reduces sensitivity to deviations and external perturbations
3Device complexity
If single-point or single-line contact grasps are used, then the grasping mechanism is simpler, but the system lacks passive stabilization and self-stabilization capabilities
Solution Approach 1:
The patent segments the contact interaction into multiple independent contact points distributed across the object surface. This segmentation creates a network of force paths that provide passive stabilization, where the geometry of contact points themselves contributes to stability without requiring complex control mechanisms
Solution Approach 2:
The patent designs the grasp configuration so that the object's own geometry and the distributed contact points create self-stabilizing force distributions. The object's structure works together with the multi-point contact to provide passive stabilization, eliminating the need for active control systems
Data Source
AI summary
The method can include: optionally providing a set of grasp tools; determining an object model for a grasp; determining a grasp contact configuration; and facilitating grasp execution with the set of grasp tools. However, the method S100 can additionally or alternatively include any other suitable elements. The method functions to facilitate non-destructive and/or stable object grasping (and/or object manipulation) using a set of grasp tools.