Self-Adjusting Robotic End Effector Clamping
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Solution Overview
Problem
Current robotic end effectors require precise positioning of both the robotic arm and the workpiece for accurate clamping, which can be challenging due to variations in workpiece placement and part-to-part variations, leading to uneven force application and potential displacement of the workpiece during operations like drilling.
Innovation Solution
A self-adjusting end effector system that includes clamping members capable of independent movement relative to a frame mounted on the robotic arm, allowing for precise clamping even when the robotic arm or workpiece is not accurately positioned, using motors like fluid cylinders for displacement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If precise positioning of the robotic arm and workpiece is required for accurate clamping, then clamping accuracy is improved, but the complexity of positioning and susceptibility to variations increases
Solution Approach 1:
The end effector incorporates self-adjusting clamping members that automatically compensate for positioning variations. The clamping members are mounted on the frame in a manner that allows them to independently adjust their position, enabling the system to self-correct without external intervention or complex positioning control mechanisms.
Solution Approach 2:
The clamping members are designed with dynamic adjustment capabilities, allowing them to move independently relative to the frame. This dynamic configuration enables real-time adaptation to workpiece position variations, transforming a static positioning problem into a dynamically adjustable solution.
2Adaptability or versatility
If the robotic arm positioning is not precise or workpiece placement varies, then positioning tolerance increases, but uneven force application and workpiece displacement occur
Solution Approach 1:
The end effector divides the clamping function into independent clamping members that can adjust their positions separately. Each clamping member operates independently on the workpiece, allowing individual adaptation to position variations while maintaining uniform force distribution across the workpiece surface.
Solution Approach 2:
The clamping members are designed to change their positional parameters independently to compensate for workpiece placement variations. By adjusting the position parameters of individual clamping members, the system maintains reliable and uniform force application despite variations in overall positioning.
3Speed
If clamping members are moved into engagement simultaneously, then clamping speed is improved, but uneven force application and workpiece displacement increase
Solution Approach 1:
The system is designed to perform preliminary positioning of clamping members before full engagement. The independent mounting allows clamping members to preliminarily locate themselves on the workpiece, ensuring proper positioning before applying full clamping force, thereby preventing displacement while maintaining efficient operation.
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 reduces the need for precise positioning of the robotic arm or workpiece, minimizing the risk of excessive clamping force and displacement, thereby ensuring accurate operations such as hole drilling by adjusting clamping members to accommodate variations in workpiece placement.
Implementation Method 1
Displacement of the clamping members may be performed by motors, such as fluid cylinders
Data Source
AI summary
An end effector for use on a robotic arm includes a clamping assembly for clamping a workpiece, and a tool such as a drill for performing an operation on the clamped workpiece. The clamping assembly is slidably mounted on the robotic arm and self adjusts its position relative to the workpiece before a clamping operation is performed. Linear actuators independently control the movements of the clamping members. The actuators are operated by a controller, based in part on position information produced by sensors that sense the position of the clamping members.