Vacuum Gripper Control Using Holding Safety Factor
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Solution Overview
Problem
Existing robot systems face challenges in handling objects of various sizes and weights due to the high cost of switching between different gripping mechanisms, and conventional methods prioritize a large adsorption area over stability, leading to instability when gripping heavy objects.
Innovation Solution
A handling device equipped with a holder and a calculator that calculates an estimated holding safety factor, allowing the controller to adjust the gripping method to ensure stable holding by optimizing the contact area and distribution of force based on the object's weight and shape.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If a large adsorption area is prioritized for gripping objects with complicated shapes, then the adsorption area is maximized, but the object may not be stably gripped and may drop off when the object weight is large
Solution Approach 1:
The system changes the parameters of the gripping method by calculating an estimated holding safety factor that incorporates both adsorption area and distance from the center of gravity. Based on this calculation, the controller adjusts which suction cups are activated and their respective adsorption forces, optimizing the balance between adsorption area and gripping stability for each specific object configuration
Solution Approach 2:
The system implements a feedback mechanism where the calculator computes the holding safety factor based on object characteristics and gripping configuration, then feeds this information back to the controller. The controller uses this feedback to dynamically adjust the gripping strategy, selecting optimal suction cup combinations and activation patterns to maintain stable gripping
2Adaptability or versatility
If a single robot system is used to handle various objects of different sizes and weights, then system cost is reduced, but it becomes difficult to ensure stable gripping for all object types
Solution Approach 1:
The system achieves universality by equipping the robot with multiple suction cups that can be selectively activated based on object characteristics. The calculator and controller work together to determine the optimal gripping configuration for any object within the system's capability, allowing a single robot system to handle various objects of different sizes, weights, and shapes while maintaining reliable gripping through adaptive control
Solution Approach 2:
The system adapts to different objects by changing gripping parameters dynamically. The calculator evaluates object properties and computes appropriate holding safety factors, then the controller adjusts which suction cups are used and with what force, enabling the same robot system to reliably handle diverse objects by optimizing gripping parameters for each specific case
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
The solution enables stable gripping of objects regardless of their weight and shape by calculating and optimizing the gripping method, preventing objects from falling during transport, even when the adsorption area is compromised for stability.
Implementation Method 1
an end effector (hand) having a plurality of suction cups for adsorbing and gripping an object
Data Source
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AI summary
A handling device according to an arrangement has a holder, a calculator, and a controller. The holder is capable of holding an object. The calculator calculates an estimated holding safety factor when the holder holds an object. The controller causes the holder to hold the object on the basis of the estimated holding safety factor calculated by the calculator.