Robot Arm Suction Grip Feedback for Irregular Object Handling
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Solution Overview
Problem
Robotic systems face challenges in gripping and handling objects with soft or irregular surfaces due to lack of sensitivity in contact sensors and insufficient force control, limiting their ability to perform complex tasks effectively.
Innovation Solution
A robotic system with a suction control mechanism that includes a method to receive sensed readings, generate a base plan for gripping, implement the plan using suction grippers, measure the grip force, and re-grip if the force falls below a threshold, allowing for adaptive gripping of objects with varying surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional contact sensors and force control are used for gripping, then the robotic system can perform basic gripping tasks, but it lacks sensitivity and adaptability for objects with soft or irregular surfaces
Solution Approach 1:
The patent implements a feedback mechanism where the robotic system continuously monitors grip force through sensors and compares it against a force threshold. When the established grip falls below the threshold, the system automatically triggers a re-grip action. This closed-loop feedback control enables the system to adapt to varying object surfaces and maintain appropriate grip force, resolving the contradiction between measurement precision and adaptability.
2Adaptability or versatility
If the robotic system uses a simple grip control mechanism, then the device complexity is low, but the ability to handle objects with varying surfaces is insufficient
Solution Approach 1:
The patent employs dynamic grip control where the robotic system adjusts its gripping strategy in real-time based on sensor feedback. The system transitions from a static grip to a dynamic re-grip when the force threshold is not met, allowing adaptability to different object surfaces without requiring complex mechanical structures. This dynamic approach resolves the contradiction between adaptability and device complexity.
3Reliability
If the robotic system implements adaptive re-gripping based on force threshold, then the ability to handle soft or irregular surfaces improves, but the control mechanism complexity increases
Solution Approach 1:
The patent implements a feedback mechanism where the robotic system continuously monitors grip force through sensors and compares it against a force threshold. When the established grip falls below the threshold, the system automatically triggers a re-grip action. This closed-loop feedback control enables the system to adapt to varying object surfaces and maintain appropriate grip force, resolving the contradiction between measurement precision and adaptability.
Solution Approach 2:
The robotic system performs self-correction by automatically detecting when grip force is insufficient and triggering its own re-grip action without external intervention. This self-service capability improves reliability by ensuring objects are securely held while avoiding the need for complex external monitoring and control systems.
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
Enhances the robotic system's ability to grip and handle objects with improved sensitivity and adaptability, reducing the likelihood of dropping objects and increasing task efficiency in manufacturing and other applications.
Implementation Method 1
determine a vacuum condition to be established between the suction cup and a surface of the target object
Data Source
AI summary
A system and method of operation of a robotic system including: receiving a sensor reading associated with a target object; generating a base plan for performing a task on the target object, wherein generating the base plan includes determining a grip point and one or more grip patterns associated with the grip point for gripping the target object based on a location of the grip point relative to a designated area, a task location, and another target object; implementing the base plan for performing the task by operating an actuation unit and one or more suction grippers according to a grip pattern rank, to generate an established grip on the target object, wherein the established grip is at a grip pattern location associated with the grip patterns; measuring the established grip; comparing the established grip to a force threshold; and re-gripping the target object based on the established grip falling below the force threshold.