End effector including resilient members between adjacent holding tools

A system for handling of a sheet of flexible material, the system comprising:

• a controllable mobile support mechanism;
• a controller;
• and
• an end effector comprising:
• a support frame;
• a plurality of manipulator assemblies, each attached to the support frame by a respective support mount, wherein each of the plurality of manipulator assemblies comprises:
• a holding tool comprising a lifting surface, wherein the holding tool is configured for lifting a sheet;
• a linear actuator comprising a proximate coupling part connected to the support mount and a distal coupling part connected to the holding tool such that the holding tool is configured to be displaced along a displacement axis by means of the linear actuator, wherein the linear actuator is configured to apply a pushing force at the distal coupling part;
• a multiaxial joint, wherein the holding tool is connected to the linear actuator by the multiaxial joint;
• and
• a drive for providing the displacement of the holding tool by means of the linear actuator,
• wherein the end effector further comprises:
• a plurality of resilient members each rigidly affixed to two adjacent holding tools of the plurality of manipulator assemblies and positioned in a space providing a mutual distance between opposing faces of the two adjacent holding tools,
• wherein each holding tool of the plurality of manipulator assemblies is connected to at least two adjacent holding tools by means of the plurality of resilient members, and
• wherein the plurality of resilient members are configured to non-permanently deform in the space when adjacent holding tools are displaced relative to each other along their respective displacement axes by means of the linear actuators of the plurality of manipulator assemblies and to adjust, by rotating, an orientation of the lifting surfaces of the holding tools of the plurality of manipulator assemblies to an equilibrium orientation in response to deforming, and
• wherein the end effector is mounted on the controllable mobile support mechanism and wherein the controller comprises a hardware processor for controlling the end effector and the controllable mobile support mechanism, either automatically, or as a result of user interaction by means of a user interface.

A method of operating an end effector, the method comprising:

• providing an end effector, the end effector comprising:
• a support frame;
• a plurality of manipulator assemblies, each attached to the support frame by a respective support mount, wherein each of the plurality of manipulator assemblies comprises:
• a holding tool comprising a lifting surface, wherein the holding tool is configured for lifting a sheet;
• a linear actuator comprising a proximate coupling part connected to the support mount and a distal coupling part connected to the holding tool such that the holding tool is configured to be displaced along a displacement axis by means of the linear actuator, wherein the linear actuator is configured to apply a pushing force at the distal coupling part;
• a multiaxial joint, wherein the holding tool is connected to the linear actuator by the multiaxial joint;
• and
• a drive for providing the displacement of the holding tool by means of the linear actuator,
• wherein the end effector further comprises:
• a plurality of resilient members each rigidly affixed to two adjacent holding tools of the plurality of manipulator assemblies and positioned in a space providing a mutual distance between opposing faces of the two adjacent holding tools,
• wherein each holding tool of the plurality of manipulator assemblies is connected to at least two adjacent holding tools by means of the plurality of resilient members, and
• wherein the plurality of resilient members are configured to non-permanently deform in the space when adjacent holding tools are displaced relative to each other along their respective displacement axes by means of the linear actuators of the plurality of manipulator assemblies and to adjust, by rotating, an orientation of the lifting surfaces of the holding tools of the plurality of manipulator assemblies to an equilibrium orientation in response to deforming;
• the method further comprising:
• lifting a sheet from an inventory surface by holding the lifting surfaces in contact with the sheet;
• orienting the lifted sheet to a pre-determined orientation according to a layup surface by means of a controllable mobile support mechanism,
• deriving a set of relative positions based on a target shape;
• moving the holding tools of the plurality of manipulator assemblies to the set of relative positions via the linear actuators of the plurality of manipulator assemblies such that the sheet is pre-shaped according to the target shape, thereby adapting the lifting surfaces according to the layup surface by the non-permanent deformation of at least a subgroup of the plurality of resilient members, without contacting the layup surface;
• and
• fastening, by pushing, the pre-shaped sheet onto the layup surface at the pre-determined orientation via the holding tools of the plurality of manipulator assemblies to form part of a workpiece.