Robotic Vacuum Gripper With Individual Cup Grip Feedback
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Solution Overview
Problem
Existing robotic grippers lack individual control over vacuum assemblies, leading to inefficient grip quality determination and adjustment, which affects the gripper's ability to accurately manipulate objects.
Innovation Solution
The method involves applying a vacuum to multiple cup assemblies of a robotic gripper in contact with an object, using pressure sensors to determine grip quality, and adjusting the vacuum supply based on pressure readings to optimize grip. Additionally, the gripper can vary acceleration based on grip quality and aggregate wrench measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If individual control over vacuum assemblies is implemented, then grip quality determination and adjustment is improved, but device complexity increases
Solution Approach 1:
The gripper is divided into multiple independently controllable vacuum assemblies, each with its own pressure sensor and control valve. This segmentation allows individual monitoring and adjustment of each cup assembly's vacuum level, enabling precise grip quality determination while maintaining manageable complexity through modular architecture
Solution Approach 2:
Pressure sensors in each vacuum assembly provide real-time feedback on vacuum levels to the controller. The controller uses this feedback to automatically adjust vacuum supply to individual assemblies, creating a closed-loop control system that improves grip quality determination without requiring complex manual intervention
2Speed
If vacuum is applied to all cup assemblies simultaneously, then grasping speed is improved, but energy consumption increases
Solution Approach 1:
Instead of applying vacuum to all cup assemblies simultaneously, the system applies vacuum only to the necessary number of assemblies required to securely grasp the object. The controller determines the minimum needed based on object characteristics and distributes vacuum selectively, reducing energy consumption while maintaining adequate grasping speed
Solution Approach 2:
The vacuum application is made dynamic and adaptive rather than static. The controller continuously monitors grip quality and adjusts vacuum distribution in real-time, increasing or decreasing vacuum to individual assemblies as needed during the grasping operation, optimizing both speed and energy efficiency
3Productivity
If acceleration is increased to improve productivity, then output increases, but grip stability deteriorates
Solution Approach 1:
The system performs preliminary assessment of grip quality using pressure sensors before increasing acceleration. By evaluating the current vacuum levels and grip stability in advance, the controller can safely increase acceleration only when grip conditions are adequate, otherwise it adjusts vacuum first to ensure stability before pursuing higher productivity
Solution Approach 2:
Real-time feedback from pressure sensors during motion allows the controller to monitor grip stability continuously. When acceleration is increased, the feedback mechanism detects any deterioration in grip quality and automatically adjusts vacuum levels to compensate, enabling high productivity while maintaining grip stability through active control
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 approach enables improved grip control and object manipulation by allowing individual adjustment of vacuum levels and acceleration, enhancing the robotic gripper's grasping capabilities and safety during object handling.
Implementation Method 1
applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object
Implementation Method 2
determining, using at least one pressure sensor associated with each of the two or more cup assemblies, a grip quality between the robotic gripper and the object
Data Source
AI summary
Systems and methods related to intelligent grippers with individual cup control are disclosed. One aspect of the disclosure provides a method of determining grip quality between a robotic gripper and an object. The method comprises applying a vacuum to two or more cup assemblies of the robotic gripper in contact with the object, moving the object with the robotic gripper after applying the vacuum to the two or more cup assemblies, and determining, using at least one pressure sensor associated with each of the two or more cup assemblies, a grip quality between the robotic gripper and the object.