Dynamic End Effector Bearing for Unbalanced Load Grasping
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Solution Overview
Problem
End effectors in robotic systems face challenges in securely grasping and moving objects with uneven weight distribution, often leading to separation during rapid movement, as existing designs either prioritize quick grasping or secure holding but not both simultaneously, and require complex sensor systems to balance loads.
Innovation Solution
A dynamic end effector system with a rotational bearing system that allows the end effector to spin freely under load, using attachments like radial deep groove ball bearings or tapered roller bearings, enabling secure grasping and movement without active motors, and incorporating damping mechanisms to stabilize the load.
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 second portion to spin freely with respect to the first portion under load. This dynamic adjustment enables the end effector to adapt its orientation to match the center of gravity of grasped objects, maintaining secure grasping during rapid acceleration and deceleration while preserving the ability to easily select objects from杂乱 collections
2Ease of operation
If the end effector is designed to quickly and easily grasp a selected object from a jumble of dissimilar objects, 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 end effector to quickly grasp objects from杂乱 collections using a simple pickup motion, then automatically adjusts its orientation under load to maintain secure grasping during rapid movement. The spin capability enables the end effector to find its balance point without requiring complex sensor systems or active control
3Reliability
If complex sensor systems are used to detect and balance unbalanced loads, then the reliability of object transport is improved, but the device complexity increases
Solution Approach 1:
The end effector employs a passive self-balancing mechanism where the dynamic coupling allows the second portion to spin freely under load. This self-adjusting mechanism automatically orients the end effector to match the object's center of gravity without requiring external sensors, active motors, or complex control systems to detect or correct imbalances
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 rapid movement of objects with uneven weight distribution by balancing the load through free spinning, reducing the risk of separation and eliminating the need for complex sensor systems to detect imbalances, thus enhancing processing efficiency.
Implementation Method 1
a second portion that is coupled to the first portion via a dynamic coupling such that 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
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.