End effector device and system for suction-based grasping of bagged objects

An end effector for use with a vacuum pressure system in controllably engaging an object, comprising:

• an at least semi-rigid body structure;
• the body structure comprising a defined concave inner chamber with a chamber opening at an object engagement region of the end effector, wherein the defined concave inner chamber has an internal width greater than the chamber opening;
• a lip structure extending from the body structure and at least partially defining the chamber opening to the defined concave inner chamber;
• the body structure including an array of inlets defining channel openings through at least one wall of the body structure to the defined concave inner chamber and oriented multidirectionally relative to the defined concave inner chamber, and wherein at least one inlet is formed through an inner portion of the lip structure and oriented away from the object engagement region such that an applied vacuum flow therethrough may be utilized to pull a portion of the object which may at least transiently occupy the defined concave inner chamber into engagement with the inner portion of the lip structure;
• the body structure comprising a defined internal channel connecting to the array of inlets;
• the body structure comprising a vacuum line interface defining an opening to the defined internal channel;
• and
• a suction cup extending beyond the object engagement region of the body structure of the end effector.