Rotating End Effector Coupling for Uneven Load Grasping
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Solution Overview
Problem
Existing end effectors for robotic systems face challenges in securely grasping and moving objects with uneven weight distribution, often leading to unbalanced loads during rapid movement, which can result in object separation and require complex sensor systems for load detection and balancing.
Innovation Solution
A dynamic end effector system with a rotational bearing system that allows the end effector to spin freely under load, balancing the object's weight distribution without active motor assistance, using various bearing types such as radial deep groove ball bearings, tapered roller bearings, and cylindrical bearings to handle radial and axial loads.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the end effector is designed to securely grasp an object during rapid movement, then the reliability of object transport is improved, but the ease of selecting and grasping an object from a jumble of dissimilar objects deteriorates
Solution Approach 1:
The end effector incorporates a dynamic coupling mechanism that allows the gripper to rotate or pivot relative to the motion system. This dynamic adjustment enables the gripper to automatically orient itself to match the object's orientation after grasping, maintaining secure contact during rapid acceleration and deceleration without requiring complex sensor systems for load detection and balancing
2Ease of operation
If the end effector is designed to quickly and easily grasp an object from a jumble, then the ease of operation is improved, but the reliability of securing the object during rapid movement deteriorates
Solution Approach 1:
The dynamic coupling mechanism allows the gripper to freely rotate and adapt its orientation after grasping an object. This passive dynamic adjustment occurs without active control, enabling quick grasping followed by automatic orientation matching that secures the object during rapid movement
3Manufacturing precision
If a single-purpose end effector tool is used, then the manufacturing precision for a specific task is improved, but the adaptability to handle a wide variety of objects deteriorates
Solution Approach 1:
The end effector is designed with a universal dynamic coupling mechanism that can accommodate various gripper types and object configurations. The dynamic coupling allows the same end effector structure to effectively handle different object orientations and weight distributions, providing multi-functionality while maintaining task-specific performance
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
Enables secure and efficient grasping and movement of objects with uneven weight distribution, reducing the risk of object separation and eliminating the need for complex sensor systems to detect load imbalances, by allowing the end effector to dynamically adjust to the object's weight distribution during movement.
Implementation Method 1
the second portion of the end effector may spin with respect to the first portion of the end effector under a load of an object being held by the end effector
Implementation Method 2
using various bearing types such as radial deep groove ball bearings, tapered roller bearings, and cylindrical bearings to handle radial and axial loads
Data Source
AI summary
A programmable motion system is disclosed that includes a dynamic end effector system. The dynamic end effector system includes an end effector that is coupled via a dynamic coupling to the programmable motion system, wherein the dynamic coupling provides that at least a portion of the end effector may spin with respect to an other portion of the end effector.