Yawing Vacuum Cup Gripper for Precise Object Orientation
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Solution Overview
Problem
Existing end-effectors for robotic systems face limitations in securely grasping and positioning objects of varying sizes and materials, particularly in grasping and manipulating objects, especially in applications requiring precise control over the object's orientation and pose, and maintaining vacuum seals, and in applications where vacuum pressure is used to acquire and secure objects, often leading to inefficiencies in throughput and orientation management.
Innovation Solution
An end-effector system with a mechanical apparatus that rotates a vacuum cup gripper without impeding the seal, has enough torque to rotate held objects, and includes a worm gear drive system or a belt-driven rotation system to achieve precise rotational positioning, allowing independent movement from the robotic system's joints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If vacuum pressure is used to acquire and secure objects, then objects can be grasped securely, but the ability to place objects in desired orientation or pose is limited
Solution Approach 1:
The end effector is divided into separate functional components: a vacuum cup for grasping and a rotation system for orientation control. This segmentation allows the vacuum cup to maintain secure grasp while the rotation system independently adjusts object orientation, resolving the contradiction between grasp security and orientation control capability
Solution Approach 2:
The end effector incorporates a dynamic rotation system that can adjust the orientation of the vacuum cup and held object during movement. This dynamic adjustment capability enables the system to maintain secure vacuum grasp while simultaneously achieving desired object orientations and poses at destination points
2Adaptability or versatility
If compliant vacuum cup is used to adapt to object variations, then grasp adaptability improves, but vacuum seal reliability deteriorates
Solution Approach 1:
The vacuum cup is designed with non-uniform compliance characteristics: the contact surface maintains higher rigidity to ensure reliable vacuum sealing, while peripheral portions have increased compliance to adapt to object shape variations. This local differentiation of mechanical properties resolves the contradiction between adaptability and seal reliability
Solution Approach 2:
The vacuum cup employs a flexible membrane structure that can deform to conform to various object surfaces while maintaining vacuum integrity. The flexible shell adapts to object variations through controlled deformation, yet the membrane design ensures the vacuum seal remains reliable across different object geometries
3Manufacturing precision
If robotic system adjusts trajectory for desired object pose, then placement precision improves, but system throughput decreases
Solution Approach 1:
The end effector's rotation system enables dynamic orientation adjustment during object transport, allowing the robotic arm to follow simpler, faster trajectories while the end effector independently orients the object to the desired pose. This dynamic compensation reduces trajectory complexity and increases system throughput while maintaining placement precision
Solution Approach 2:
The rotation system can pre-position objects in required orientations before final placement, allowing the robotic system to plan more efficient trajectories. By preparing object orientations in advance during transport, the system reduces the need for complex final-position trajectory adjustments, thereby improving throughput without sacrificing placement precision
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 efficient and secure grasping and manipulation of objects, facilitating precise rotational positioning and orientation adjustment without impacting throughput, and accommodating diverse object sizes and materials, enhancing the system's ability to manage a larger variety of objects.
Implementation Method 1
an end-effector on an articulated arm may include a vacuum cup having a compliant portion
Data Source
Figure 1
Figure 2A~2B
Figure 3A~3B
AI summary
An end-effector system (30) is disclosed for use with a programmable motion device (12). The end-effector system (30) includes an arm attachment portion (34) for attachment to an arm of the programmable motion device (12), an end-effector attachment portion (30) for attachment to an end-effector (30) for grasping objects (32), a rotational shaft portion (50) for rotational attachment to the arm attachment portion (34), said rotational shaft portion (50) being coupled to the end-effector attachment portion (30) at a distal end thereof, and a motor (42) system providing rotation of the rotational shaft portion (50) as well as the end-effector attachment portion (30) with respect to the arm attachment portion (34).