Robotic End Effector Backstop Structure for Stable Compliant Grasping
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Solution Overview
Problem
Conventional robotic end effectors struggle to securely grasp compliant objects like bagged items, as they tend to slip or shift during movement, leading to uneven forces and potential damage to the objects.
Innovation Solution
The use of soft robotic actuators in conjunction with stabilization structures, such as keels, which provide a backstop for the actuators to compress the object, allowing for a more delicate and stable grasp with lower inflation pressure, and adaptive conforming to the object's shape.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional robotic fingers grasp a compliant object tightly, then the object is less likely to slip, but the object may be damaged
Solution Approach 1:
The patent introduces a stabilization structure as an intermediary element between the robotic fingers and the compliant object. This structure provides a backstop that prevents the object from slipping without requiring the fingers to apply excessive grasping force, thereby avoiding damage to the object while maintaining grasp stability.
Solution Approach 2:
The end effector is segmented into multiple functional components: robotic fingers for initial contact and a separate stabilization structure for preventing slippage. This segmentation allows each component to perform its specific function optimally - the fingers provide gentle contact while the stabilization structure provides the necessary constraint without damage.
2Stability of the object's composition
If conventional robotic fingers grasp tightly to prevent slipping, then grasp stability improves, but product damage increases
Solution Approach 1:
The stabilization structure acts as a mediator that provides the necessary mechanical constraint to prevent slippage during acceleration and deceleration. By positioning this structure behind the object, it provides a backstop that maintains grasp stability without requiring the fingers to apply damaging forces.
3Object-affected harmful factors
If soft robotic actuators are used with lower inflation pressure, then object damage is reduced, but grasp stability may be compromised
Solution Approach 1:
The stabilization structure serves as a mediator that compensates for the reduced grasping force from low-pressure actuators. It provides the necessary mechanical support to maintain grasp stability during dynamic operations, allowing the use of lower inflation pressures without compromising reliability.
4Device complexity
If the end effector structure is simplified, then device complexity is reduced, but adaptability to different object shapes decreases
Solution Approach 1:
The stabilization structure is designed as a universal component that can work with various actuator configurations and adapt to different object shapes. Its placement and geometry allow it to provide effective support for diverse compliant objects without requiring complex customization, thus maintaining low device complexity while achieving high adaptability.
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 enhances the stability of the grasp on compliant objects during acceleration and deceleration, reduces the risk of damage, and allows for efficient handling of various object types without marking surfaces, improving the overall grasp quality and reliability.
Implementation Method 1
The actuators may be inflated with a gas or liquid, such as air, water, or saline
Implementation Method 2
provide a backstop against which the actuators may squeeze the bag or other product
Data Source
AI summary
Various stabilization devices for a robotic end of arm tool, such as a robotic gripper, are described. The stabilization device is provided in a palm area of the end of arm tool and serves as a backstop against which actuators of the end of arm tool can push a compliant or slick target object. The stabilization device may take many any of a variety of shapes, depending on the application. Based on the shape of the stabilization device and the action of the robotic gripper on the target object, the target object can be moved or rotated in a more stable configuration, thus allowing the actuators to apply less force while still maintaining a firm grasp of the object.