Robotic End-of-Arm Tool With Four-Bar Linkage for Lumber Handling
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Solution Overview
Problem
The automated pre-fabrication of structural components in construction is limited due to challenges in manipulating and positioning lumber objects without damaging their fibers, which are crucial for strength, especially when gripping or placing them for assembly.
Innovation Solution
An end-of-arm tool (EOAT) designed for robotic arms, featuring symmetrical jaws with teeth aligned along the fibers of lumber objects, which transition between gripping and open configurations using a four-bar linkage mechanism to securely grasp and release lumber without crushing, and an extractor to stabilize the object on a horizontal surface.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If conventional gripping mechanisms are used to manipulate lumber objects, then automated handling is achieved, but fiber damage and crushing occur
Solution Approach 1:
The gripping surface is segmented into multiple teeth rather than a continuous surface. These teeth are spaced to contact only specific portions of the lumber, allowing automated gripping while minimizing contact area and preventing fiber damage and crushing.
Solution Approach 2:
The gripping mechanism transitions from uniform contact to localized contact through teeth with specific geometries. Each tooth is designed with particular dimensions and orientations to contact lumber at optimal locations, providing effective gripping while avoiding damage to critical fiber areas.
2Reliability
If gripping force is increased to secure lumber objects, then handling stability improves, but fiber damage and crushing increase
Solution Approach 1:
The gripping force is distributed across multiple discrete teeth rather than concentrated on a continuous surface. This segmentation allows the same total gripping force to be applied while reducing pressure intensity at each contact point, preventing crushing while maintaining handling stability.
Solution Approach 2:
The gripping mechanism utilizes three-dimensional tooth geometries with specific orientations. The teeth are arranged and shaped to engage lumber in multiple directions, providing stable gripping through geometric interlocking rather than relying solely on high compressive force.
3Force
If gripping elements are placed across fibers for maximum contact, then gripping strength improves, but fiber damage increases
Solution Approach 1:
The teeth are designed with specific orientations and positions to contact lumber at locations that maximize gripping effectiveness while avoiding critical fiber regions. The local geometry of each tooth is optimized to engage the lumber surface without applying force in directions that would cause fiber damage.
Data Source
AI summary
End-of-arm tools to be coupled to a robotic arm and configured to handle structural lumber objects are disclosed as are methods of use for such. The end-of-arm tools comprise opposing jaws to grip the lumber objects. The opposing jaws are coupled to a rigid frame via a four-bar linkage providing mechanical advantage and over-center functionality. An actuated extractor extends between the opposing jaws to engage the lumber object upon release. Assemblies of multiple end-of-arm tools coupled together are also disclosed.