Yawing Grippers for Secure Object Reorientation in Robotic Handling
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Solution Overview
Problem
Existing end-effectors for robotic systems face limitations in securely grasping and maintaining objects during rapid movement, particularly when dealing with diverse objects of varying sizes, weights, and materials, and struggle to place them in desired orientations or poses efficiently, which affects throughput and packing efficiency.
Innovation Solution
An end-effector system with a rotational spline shaft portion and motor system that allows independent rotation and axial movement of a vacuum cup gripper, enabling efficient adjustment of object pose and orientation without impeding vacuum seal, using a worm gear or belt-driven rotation system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a vacuum cup with a flexible compliant portion is used to grasp objects, then the end-effector can adapt to variations in object surface structures and maintain vacuum seal, but the system may create substantial noise due to positioning of the vacuum cup on the object and may not achieve required vacuum level when a good seal is not created
Solution Approach 1:
The patent changes the physical parameters of the vacuum cup by making it rigid rather than flexible, and by incorporating a compliant object interface element that can deform. This allows the system to maintain a rigid structure for stability while still achieving adaptability through the compliant interface element that conforms to object surfaces, thereby reducing noise and improving vacuum seal effectiveness.
Solution Approach 2:
The patent segments the vacuum cup into two distinct functional parts: a rigid body portion that provides structural stability and positioning, and a separate compliant object interface element that contacts the object. This segmentation allows each part to optimize its function - the rigid portion minimizes noise and maintains structure, while the compliant portion ensures good vacuum seal contact.
2Productivity
If the end-effector rotates the vacuum cup gripper to adjust object pose and orientation, then packing efficiency and throughput are improved, but the rotation mechanism may impede the vacuum seal
Solution Approach 1:
The patent segments the gripper system into a rigid vacuum cup body that maintains the vacuum seal and a separate rotatable component that adjusts orientation. The rigid body remains stationary during rotation to preserve the vacuum seal, while the rotatable component (including the compliant interface element) changes orientation to achieve desired object pose, thus resolving the contradiction between rotation capability and seal integrity.
Solution Approach 2:
The patent introduces a compliant object interface element as an intermediary between the rigid vacuum cup and the object. This intermediary allows rotational movement and orientation adjustment while maintaining the vacuum seal, as the compliant element can accommodate the motion without breaking the seal between the rigid cup body and the object.
3Measurement precision
If the end-effector uses a rigid vacuum cup structure, then positioning accuracy and vacuum seal stability are improved, but the ability to adapt to varying angles of approach and object surface structures is reduced
Solution Approach 1:
The patent divides the vacuum cup into a rigid body portion for accurate positioning and a compliant object interface element for surface adaptation. The rigid body ensures precise positioning and stable vacuum seal, while the compliant interface element deforms to match object surfaces and accommodate varying approach angles, thus resolving the contradiction between rigidity and adaptability.
Solution Approach 2:
The patent applies different mechanical properties to different parts of the vacuum cup: the body portion is rigid for positioning accuracy, while the object interface element is compliant for surface adaptation. This local differentiation of material properties allows each part to perform its specific function optimally, resolving the contradiction between rigid positioning and flexible adaptation.
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 secure grasping and efficient reorientation of objects, improving throughput by allowing independent rotation of the vacuum cup gripper, reducing path blockages, and enhancing packing efficiency in robotic systems.
Implementation Method 1
Many end-effectors employ vacuum pressure for acquiring and securing objects for transport and/or subsequent operations by articulated arms
Data Source
AI summary
An end-effector system is disclosed for use with a programmable motion device. The end-effector system includes an arm attachment portion for attachment to an arm of the programmable motion device, an end-effector attachment portion for attachment to an end-effector for grasping objects, a rotational shaft portion for rotational attachment to the arm attachment portion, said rotational shaft portion being coupled to the end-effector attachment portion at a distal end thereof, and a motor system providing rotation of the rotational shaft portion as well as the end-effector attachment portion with respect to the arm attachment portion.