Varying Strength Interface for Robotic End-Effector Sealing
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Solution Overview
Problem
Conventional suction-based end effectors are ineffective for moving items without a planar surface, and struggle with items having porous surfaces, as suction force is lost or unsuitable, limiting their ability to handle complex or irregularly shaped items.
Innovation Solution
An end effector with a pliable body member and strength-varying features at its interface system, which can deform to improve sealing and maintain suction, using actuators to pivot and alter the geometry of the sealing surface for better alignment with items, enabling the handling of complex and irregularly shaped items without losing suction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional suction-based end effectors are used, then simple planar items can be handled, but complex or irregularly shaped items cannot be effectively manipulated
Solution Approach 1:
The end effector incorporates a deformable body member that can dynamically change its geometry through actuation. The body member transitions between different configurations (e.g., inflated vs. deflated states) to adapt to various item shapes, maintaining reliable suction contact across diverse geometries including complex and irregularly shaped items
Solution Approach 2:
The system changes physical parameters of the body member (volume, shape, surface area) by controlling fluid pressure within it. By adjusting the inflation/deflation state, the end effector modifies the sealing surface geometry to match different item contours, enabling reliable suction on items with varying shapes and surface characteristics
2Force
If suction force is applied to porous surfaces, then items can be held, but suction force is lost on highly porous materials
Solution Approach 1:
The body member functions as a flexible sealing shell that can conform to porous surfaces. The compliant nature of the flexible material allows it to adapt to surface irregularities and maintain effective sealing contact, preventing suction force loss on porous materials by creating a tight interface that accommodates surface porosity
3Adaptability or versatility
If the end effector manipulates items with reduced accessibility, then more items can be reached, but sealing efficiency decreases
Solution Approach 1:
The end effector applies localized deformation to specific regions of the body member through targeted actuation. This allows the sealing surface to locally adapt to item geometries in restricted access locations while maintaining overall structural integrity and suction effectiveness, preserving sealing efficiency even when manipulating hard-to-reach items
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 the manipulation of items with complex or irregular shapes at higher velocities and accelerations without damaging them, improving accessibility and sealing efficiency, even for items with reduced or restricted accessibility.
Implementation Method 1
a vacuum source configured to apply suction force to the item
Implementation Method 2
the sealing surface configured to seal with items brought into proximity with the body member
Implementation Method 3
a plurality of actuators operably connected to the mounting plate and each configured to apply a force to the mounting plate so as to pivot a portion of the mounting plate and deform the body member into the deformed configuration
Implementation Method 4
apply a force to the mounting plate so as to pivot a portion of the mounting plate
Data Source
AI summary
Aspects described herein include an end effector having an interface system that includes a body member attached to a mounting plate, and a plurality of strength-varying features at a plurality of regions of the interface system. The plurality of strength-varying features encourage the body member to repeatably deform into a deformed configuration. The end effector further comprises a vacuum port in fluid communication with an inner recess of the body member, and a plurality of actuators that apply a force to the mounting plate to pivot a portion of the mounting plate and deform the body member into the deformed configuration.