Variable Compliance EOAT for GCU Optimization
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Solution Overview
Problem
Modern inventory systems face inefficiencies in resource utilization, leading to low throughput, long response times, and high costs due to inefficient storage and retrieval of items, particularly in high-capacity systems where robotic components struggle to optimize gross cubic utilization (GCU) and accommodate fluctuations in throughput.
Innovation Solution
The implementation of a robotic arm assembly with compliance variation mechanisms that can adjust mechanical impedance to precisely grasp, move, and store items closely together, optimizing GCU by varying compliance to push items into tight spaces without damaging them, using sensors to determine appropriate storage strategies and end effectors for efficient item manipulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If robotic system components are used for item storage and retrieval, then automation and throughput are improved, but gross cubic utilization is worsened due to significant space between items
Solution Approach 1:
The robotic system dynamically adjusts the compliance of its end effectors during operation. The compliance is increased during insertion to allow items to be pushed into tight spaces, and decreased during retrieval to provide precise control. This dynamic adjustment enables the system to achieve both high throughput and improved gross cubic utilization by adapting its mechanical properties to the specific task requirements.
Solution Approach 2:
The system changes the compliance parameter of the end effector based on the operational phase. During storage operations, compliance is increased to allow flexible manipulation and packing of items closely together. During retrieval operations, compliance is decreased to provide rigid, precise control. This parameter change enables the robotic system to overcome the limitation of fixed mechanical properties and optimize both productivity and space utilization.
2Ease of operation
If items are stored with significant space between them, then robotic system components can easily access items, but gross cubic utilization is reduced
Solution Approach 1:
The end effector applies different levels of compliance to different regions of the storage space. When inserting items, the compliance is localized to the contact points between the effector and items, allowing tight packing in those specific areas while maintaining ease of operation. This local quality adjustment enables the system to improve gross cubic utilization without compromising overall item accessibility.
3Volume of stationary object
If compliance is increased to push items into tight spaces, then gross cubic utilization is improved, but item damage risk increases
Solution Approach 1:
The robotic system uses periodic compliance adjustment during the insertion process. The compliance is increased during the initial insertion phase to allow items to be pushed into tight spaces, then periodically decreased to provide precise control and minimize damage risk. This periodic action pattern enables the system to achieve high gross cubic utilization while maintaining item integrity through controlled, phased compliance changes.
Solution Approach 2:
The system incorporates force sensing feedback to monitor the insertion process in real-time. When the end effector encounters resistance or detects that an item is nearing its limit, the feedback mechanism automatically adjusts the compliance to prevent excessive force application. This feedback control enables the system to improve gross cubic utilization while minimizing item damage through adaptive, real-time compliance adjustment based on actual insertion conditions.
4Stability of the object's composition
If rigid robotic components are used, then structural stability is improved, but adaptability to optimize GCU is reduced
Solution Approach 1:
The robotic system transitions from a static, rigid configuration to a dynamic, adaptable one by incorporating compliance adjustment mechanisms. The end effectors can change their mechanical properties in real-time based on the storage conditions and item characteristics. This dynamic capability allows the system to optimize GCU for different storage scenarios while maintaining structural stability during operation, resolving the contradiction between rigidity and adaptability.
Data Source
AI summary
Described herein is an inventory management system and methods of operating a robotic arm assembly in which the level of compliance of the robotic arm assembly is altered in order to achieve a high gross cubic utilization. In at least some embodiments, a robotic arm assembly may adopt a low level of compliance when grasping an item. The inventory management system may identify an appropriate storage location for the item and move the item to that storage location. Upon reaching the storage location, the robotic arm assembly may adopt a higher level of compliance. The robotic arm assembly may then push the item against one or more other items in order to insert the item into the determined storage location.