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US 10,556,338 B1Granted
Compliant finger tip for item manipulation
AssigneeAmazon Technologies, Inc.
InventorsAndrew D. Marchese, Matthew Michael Budnick, Ennio Claretti, Jude Royston Jonas
Life of this patent
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Abstract
Apparatuses including compliant tips and methods of manipulating items using the compliant tips are described herein. An example apparatus may include a robotic manipulator and a pair of end effectors. One end effector may include a pair of actuator-driven fingers that each include a compliant tip. The compliant tips may be used to scoop underneath items as part of item manipulation.
Claims17
An apparatus, comprising:
- a robotic manipulator;
- a first end effector connected to the robotic manipulator and configured to grasp an item using a first grasping function;
- and
- a second end effector connected to the robotic manipulator and configured to grasp the item using a second grasping function, the second end effector comprising:
- a first elongate finger comprising a first finger attachment connected to the first elongate finger via one or more biased members, with a first protruding tip connected to the first finger attachment at a distal end of the first finger attachment, wherein at least one of the first finger attachment or the first protruding tip deviates from an equilibrium position when an external force is applied at a distal end of the first protruding tip;
- and
- a second elongate finger being opposite the first elongate finger and comprising a second protruding tip disposed at a distal end of the second elongate finger, the first protruding tip and the second protruding tip protruding towards each other, the first elongate finger and the second elongate finger being slidably mounted relative to each other such that the first elongate finger and the second elongate finger are moveable towards each other and away from each other,
- wherein when the first elongate finger and the second elongate finger are moved towards each other:
- the first elongate finger and the second elongate finger contact opposite surfaces of the item;
- and
- the first protruding tip and the second protruding tip extend underneath bottom edges of the item.
8 more elements
An apparatus, comprising:
- a robotic manipulator;
- a first end effector connected to the robotic manipulator and configured to grasp an item using a first grasping function;
- and
- a second end effector connected to the robotic manipulator and configured to grasp the item using a second grasping function, the second end effector comprising:
- a pair of elongate fingers disposed opposite each other;
- a pair of compliant tips, each one of the compliant tips connected to one of the pair of elongate fingers, a first compliant tip of the pair of compliant tips comprising a first opposing protrusion disposed at a distal end of the first compliant tip, a profile of the first opposing protrusion tapering with respect to an increase in a transverse distance from a first elongate finger of the pair of elongate fingers to a distal end of the first opposing protrusion;
- and
- one or more actuators configured to drive the pair of elongate fingers such that the pair of compliant tips contact opposing bottom edges of the item when the second end effector uses the second grasping function to grasp the item.
5 more elements
A computer-implemented method, comprising:
- instructing a first end effector of a robotic manipulator to position a pair of compliant tips of a pair of opposing elongate fingers of the first end effector at a first location and at a second location adjacent bottom edges of an item, each compliant tip of the pair of compliant tips comprising:
- an inward-facing protrusion that is biased towards the other compliant tip, a profile of the inward-facing protrusion tapering with respect to an increase in a transverse distance from a respective elongate finger to a respective distal end of the inward-facing protrusion;
- and
- a curved rear portion defined as extending between a rear surface of the respective elongate finger and an underside of the inward-facing protrusion;
- instructing a second end effector of the robotic manipulator to grasp the item at a third location adjacent a top side the item;
- and
- instructing the first end effector to grasp the item such that respective inward-facing protrusions of the pair of compliant tips extend underneath the bottom edges of the item and flex so as to resiliently press against the bottom edges of the item.
4 more elements
Dependencies are inferred from the claim text.