Structure for a robotic end effector
AssigneeSoft Robotics, Inc.
InventorsJeffrey Curhan, Thomas Womersley
Life of this patent
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Abstract
Various stabilization devices for a robotic end of arm tool, such as a robotic gripper, are described. The stabilization device is provided in a palm area of the end of arm tool and serves as a backstop against which actuators of the end of arm tool can push a compliant or slick target object. The stabilization device may take many any of a variety of shapes, depending on the application. Based on the shape of the stabilization device and the action of the robotic gripper on the target object, the target object can be moved or rotated in a more stable configuration, thus allowing the actuators to apply less force while still maintaining a firm grasp of the object.
Claims16
A stabilization device for a robotic end effector comprising first and second robotic actuators capable of moving between an undeployed state and a deployed state by curving along a central axis of rotation, respective distal ends of the first and second robotic actuators being brought into proximity with a palm region of an end effector base when the first and second-actuators are in the deployed state, wherein:
- the first robotic actuator has a first actuator base on a radially interior side of the first robotic actuator and the second robotic actuator has a second actuator base on a radially interior side of the second robotic actuator,
- the first robotic actuator and the second robotic actuator are deployed on the robotic end effector so that the first actuator base and the second actuator base are parallel to each other and in a facing configuration when the first robotic actuator and the second robotic actuator are in the undeployed state, and
- the palm region comprises a space on the end effector base between the first robotic actuator and the second robotic actuator,
- the stabilization device comprising:
- a stabilization device base sized and shaped to fit in the palm region of the robotic end effector;
- and
- at least one ridge extending away from the stabilization device base by a height, the ridge having a length extending parallel to the central axis of rotation of the first robotic actuator and second robotic actuator, wherein the at least one ridge has a side that is concave or flat and defines a target area that is positioned so that, when the first and second robotic actuators are in the deployed state, a force is directed between the respective distal ends of the actuator and respective concave or flat sides of the ridge, wherein at least a portion of a target object is provided in the target area and is secured in place between target area and the respective distal ends of the first and second actuators which do not extend over a convex portion of the ridge located at the height of the ridge.
Dependencies are inferred from the claim text.