摘要:
Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.
摘要:
The present invention provides an apparatus for automated vertical placement of a small rod at a predetermined location, where the apparatus includes a parallel pneumatic gripper having a driver mechanism and a double-v shaped interlocking jaw assembly configured to receive, secure, and release a small rod in a substantially vertical position in response to corresponding signals generated by the driver mechanism. The present invention also provides a robotic system for automated gross retrieval and precise placement of a small rod. The present invention further provides a process for automated gross retrieval of at least one small rod and subsequent precise and substantially vertical placement thereof into a platform at a predetermined location and at a predetermined depth.
摘要:
Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.
摘要:
Examples described here include a device that has a housing defining a cavity, and a force sensor. The device also includes a first hydraulic actuator positioned in the cavity, and a second hydraulic actuator positioned in the cavity. The first and second hydraulic actuators move between respectively relaxing modes and thrusting modes along respective longitudinal axes. The longitudinal axis of the first hydraulic actuator is substantially parallel to the longitudinal axis of the second hydraulic actuator. The device also includes a first actuated member coupled to the first hydraulic actuator, and a second actuated member coupled to the second hydraulic actuator.
摘要:
Reconfigurable soft robotic actuators with hard components are described. Magnetic attraction is used to couple flexible molded bodies capable of actuation upon pressurization with other flexible molded bodies and/or with hard components (e.g., frames and connectors) to form a seal for fluidic communication and cooperative actuation. Pneumatic de-coupling chambers built into the hard components to de-couple the hard components from the magnetically-coupled soft molded bodies are described. The use of magnetic self-alignment coupling and pneumatic de-coupling allows for the remote assembly and disassembly of complex structures involving hard and soft components. The magnetic coupling allows for rapid, reversible reconfiguration of hybrid soft-hard robots for repair, testing new designs, and carrying out new tasks.
摘要:
Exemplary embodiments relate to soft robotic gripper systems suited to grasping target objects in cluttered environments. Some embodiments provide extension rods, hinges, and/or rails that allow a soft robotic actuator to be extended towards or away from a robotic base and/or other actuators. Accordingly, a gripper including the actuator may be reconfigured into a size and/or shape that allows for improved access to the cluttered environment. Further embodiments relate to soft robotic gripper systems for supporting grasped objects during high acceleration movements using vacuum, gripper, and/or bellows devices. Still further embodiments relate to specialized grippers for manipulating food items.
摘要:
Reconfigurable soft robotic actuators with hard components are described. Magnetic attraction is used to couple flexible molded bodies capable of actuation upon pressurization with other flexible molded bodies and/or with hard components (e.g., frames and connectors) to form a seal for fluidic communication and cooperative actuation. Pneumatic de-coupling chambers built into the hard components to de-couple the hard components from the magnetically-coupled soft molded bodies are described. The use of magnetic self-alignment coupling and pneumatic de-coupling allows for the remote assembly and disassembly of complex structures involving hard and soft components. The magnetic coupling allows for rapid, reversible reconfiguration of hybrid soft-hard robots for repair, testing new designs, and carrying out new tasks.
摘要:
The present invention provides an apparatus for automated vertical placement of a small rod at a predetermined location, where the apparatus includes a parallel pneumatic gripper having a driver mechanism and a double-v shaped interlocking jaw assembly configured to receive, secure, and release a small rod in a substantially vertical position in response to corresponding signals generated by the driver mechanism. The present invention also provides a robotic system for automated gross retrieval and precise placement of a small rod. The present invention further provides a process for automated gross retrieval of at least one small rod and subsequent precise and substantially vertical placement thereof into a platform at a predetermined location and at a predetermined depth.
摘要:
Exemplary embodiments relate to user-assisted robotic control systems, user interfaces for remote control of robotic systems, vision systems in robotic control systems, and modular grippers for use by robotic systems. The systems, methods, apparatuses and computer-readable media instructions described interact with and control robotic systems, in particular pick and place systems using soft robotic actuators to grasp, move and release target objects.
摘要:
A gripper has a body with a jaw support portion and powering portion. A powering assembly is positioned in the powering portion. A stationary jaw is secured to the jaw support portion. A movable jaw is pivotally secured to the jaw support portion about a pivot pin. A rod from the powering assembly connects in a slot on the movable jaw. The pivot pin is positioned on an opposite side of an axis of the rod on the clevis portion away from the stationary jaw. The non-clamping end of the movable jaw is incapable of extending below an end plane of the body of the stationary jaw side of the gripper.