Method and apparatus for using vibration to release parts held by a robotic gripper

A system comprising:

• a robot;
• a support structure associated with the robot;
• a gripper operably coupled to the support structure, the gripper having a first finger and a second finger;
• first and second fingertips associated with the first and second fingers, respectively, the first and second fingertips configured to hold an object therebetween in a first position and to release the object in a second position;
• a channel formed between the first and second fingers;
• and
• an acoustic speaker operable to direct acoustic waves through the channel when the first and second fingertips are in the second position.

A system comprising:

• a robot;
• a support structure associated with the robot;
• a gripper operably coupled to the support structure, the gripper having a first finger and a second finger;
• first and second fingertips associated with the first and second fingers, respectively, the first and second fingertips configured to hold an object therebetween in a first position and to release the object in a second position;
• an actuation member defined by first and second legs extending from an actuation wall to a corresponding finger;
• and
• a piezo stack formed from one or more piezoelectric elements engaged between the actuation wall and the support structure.

A system comprising:

• a robot;
• a support structure associated with the robot;
• a gripper operably coupled to the support structure, the gripper having a first finger and a second finger;
• first and second fingertips associated with the first and second fingers, respectively, the first and second fingertips configured to hold an object therebetween in a first position and to release the object in a second position;
• and
• a motor having an unbalanced mass connected to at least one of the fingers, wherein the motor generates a vibration of the at least one finger during operation.

A system comprising:

• a robot;
• a support structure associated with the robot;
• a gripper operably coupled to the support structure, the gripper having a first finger and a second finger;
• first and second fingertips associated with the first and second fingers, respectively, the first and second fingertips configured to hold an object, therebetween in a first position and to release the object in a second position;
• and
• a vibrating body engagable with the support structure when the fingertips are moved to the second position.

A system comprising:

• a robot;
• a support structure formed with the robot;
• a gripper operably coupled to the support structure, the gripper having a suction cup;
• a fluid passageway formed through the support structure and the suction cup;
• a vacuum generator operably coupled to the fluid passageway;
• a fluid pulsation generator operably coupled to the fluid passageway;
• wherein a vacuum is formed within the fluid passageway to hold an object with the suction up;
• and
• wherein a pulsating fluid is transmitted through the fluid passageway after the vacuum is removed to release the object from the suction cup.