Robotic Gripper Interface Slots for Repeatable Workpiece Handling
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Solution Overview
Problem
Industrial robots' end effectors lack proper handling and mechanical repeatability when moving workpieces in automated additive manufacturing systems, particularly in 3-D printing operations.
Innovation Solution
A robotic gripper apparatus with a pair of gripping assemblies, each having an interface slot defined by transversely and longitudinally extending edges, allowing for an interference fit with the workpiece, and an actuator assembly to move between engaged and disengaged positions, ensuring precise handling and repeatable movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional end effectors are used in automated additive manufacturing systems, then the robot can perform basic movement operations, but the handling precision and mechanical repeatability are insufficient
Solution Approach 1:
The end effector is segmented into multiple gripping assemblies (at least two), each with independent gripping elements and interface slots. This segmentation allows each assembly to independently engage with specific features of the workpiece, improving both handling precision and mechanical repeatability through distributed contact points and specialized geometries.
Solution Approach 2:
The gripping elements are designed with specific local geometries including interface slots with defined edges (first edge, second edge, third edge) and arcuate surfaces. These localized geometric features are optimized for specific engagement purposes, such as receiving workpiece features at predetermined angles or providing interference fits, thereby enhancing precision and repeatability at critical contact zones.
2Manufacturing precision
If the gripping assembly uses a simple gripping structure, then the device complexity is reduced, but the ability to maintain planar surface and tight tolerance engagement is compromised
Solution Approach 1:
The gripping assembly incorporates movable gripping elements that can transition between engaged and disengaged positions. The interface slots are designed with specific geometries (arcuate surfaces, sloped configurations) that dynamically adapt to workpiece features during engagement, enabling tight tolerance maintenance while managing structural complexity through controlled motion and adaptive geometry.
Solution Approach 2:
The interface slot acts as an intermediary element between the gripping element and the workpiece. Its specific geometry (defined by multiple edges and arcuate surfaces) mediates the engagement process, providing a controlled interface that ensures planar surface maintenance and tight tolerance engagement while simplifying the overall gripping mechanism through a standardized intermediate structure.
3Measurement precision
If the gripping element has a complex interface slot geometry, then the engagement precision with workpiece is improved, but the ease of manufacture decreases
Solution Approach 1:
The interface slot geometry is designed as a universal feature that serves multiple functions: it provides precise engagement through arcuate surfaces, maintains planar contact through defined edges, and accommodates various workpiece features through its multi-edge configuration. This multi-functionality reduces the need for multiple specialized gripping elements, thereby improving engagement precision while facilitating easier manufacturing through standardized design.
Data Source
AI summary
A robotic gripper apparatus for an automated additive manufacturing production system (AAMPS) includes a pair of gripping assemblies. Each gripping assembly is moveable in a transverse direction between a first position in which the gripping assembly engages an AAMPS workpiece and a second position in which the gripping assembly is disengaged from the AAMPS workpiece. Each gripping assembly includes a gripping element that defines an interface slot configured to receive the AAMPS workpiece. The interface slot is defined by a pair of transversely extending edges of the gripping element and a longitudinal edge of the gripping element disposed between the pair of transversely extending edges.