Systems and methods for efficiently moving a variety of objects
A programmable motion system is disclosed that includes a dynamic end effector system. The dynamic end effector system includes an end effector that is coupled via a dynamic coupling to the programmable motion system, wherein the dynamic coupling provides that at least a portion of the end effector may spin with respect to an other portion of the end effector.
1. A programmable motion system including a dynamic end effector system, said dynamic end effector system including an end effector that is coupled via a dynamic coupling to the programmable motion system, wherein the dynamic coupling provides that at least a first portion of the end effector may spin through 360 degrees with respect to a second portion of the end effector, wherein the end effector defines at an acquisition end thereof an end effector opening through which a vacuum is provided to engage an object, and wherein the first portion includes a first portion opening at a center thereof and the second portion includes a second portion opening at a center thereof, and wherein the vacuum is a provided along a path passing through the first portion opening and the second portion opening to the id effector opening.
2. The programmable motion system as claimed in claim 1 , wherein said dynamic coupling includes a rotational bearing.
3. The programmable motion system as claimed in claim 1 , wherein said dynamic coupling includes any of a radial deep groove ball bearing, a four contact point ball bearing, a pair of tapered roller bearings, a cylindrical roller bearing, or solid bushings.
4. The programmable motion system as claimed in claim 1 , wherein said end effector includes a flexible bellows.
5. The programmable motion system as claimed in claim 1 , wherein the vacuum is coupled to a vacuum source that is remote from the end effector.
6. The programmable motion system as claimed in claim 1 , wherein said end effector includes a shaft that provides the vacuum to the end effector opening.
7. The programmable motion system as claimed in claim 1 , wherein the dynamic coupling provides that the first portion of the end effector may spin freely with respect to the second portion of the end effector.
8. The programmable motion system as claimed in claim 1 , wherein said dynamic coupling includes a damping source for providing a damping force inhibiting rotation of the first portion of the end effector with respect to the second portion of the end effector.
9. The programmable motion system as claimed in claim 8 , wherein damping source further provides that the rotational position of the first portion of the end effector may be actively controlled with respect to the second portion of the end effector.
10. The programmable motion system as claimed in claim 8 , wherein the system further includes a position detection system for monitoring the rotational position of the first portion of the end effector with respect to the second portion of the end effector.
11. A programmable motion system including a dynamic end effector system comprising an end effector that includes a first portion that is coupled to the programmable motion system, and a second portion that is coupled to the first portion via a dynamic coupling such that the second portion of the end effector may spin with respect to the first portion of the end effector solely under a force external to the dynamic end effector system, including the load of an object being held by the end effector, wherein the end effector defines at an acquisition end thereof an end effector opening through which a vacuum is provided to engage an object, and wherein the first portion includes a first portion opening at a center thereof and the second portion includes a second portion opening at a center thereof, and wherein the vacuum is provided along a path passing through the first portion opening and the second portion opening to the end effector opening.
12. The programmable motion system as claimed in claim 11 , wherein said dynamic coupling includes a rotational bearing.
13. The programmable motion system as claimed in claim 11 , wherein said dynamic coupling includes any of a radial deep groove ball bearing, a four contact point ball bearing, a pair of tapered roller bearings, a cylindrical roller bearing, or solid bushings.
14. The programmable motion system as claimed in claim 11 , wherein the dynamic coupling provides that the second portion of the end effector may spin freely without restriction with respect to the first portion of the end effector.
15. The programmable motion system as claimed in claim 11 , wherein said dynamic coupling includes a damping source for providing a damping force inhibiting rotation of the second portion of the end effector with respect to the first portion of the end effector.
16. The programmable motion system as claimed in claim 15 , wherein the damping source further provides that the rotational position of the second portion of the end effector may be actively controlled with respect to the first portion of the end effector.
17. The programmable motion system as claimed in claim 15 , wherein the system further includes a position detection system for monitoring the rotational position of the second portion of the end effector with respect to the first portion of the end effector.
18. A method of providing a programmable motion system including a dynamic end effector system for grasping and moving objects, said method comprising the steps of
providing a dynamic end effector including a first portion that is coupled to the programmable motion system, and a second portion that is coupled to the first portion via a dynamic coupling;
acquiring an object; and
permitting the second portion of the end effector to spin through 360 degrees with respect to the first portion of the end effector under a load of the object held by the end effector, wherein the end effector defines at an acquisition end thereof an end effector opening through which a vacuum is provided to engage an object, and wherein the first portion includes a first portion opening at a center thereof and the second portion includes a second portion opening at a center thereof, and wherein the vacuum is provided along a path passing through the first portion opening and the second portion opening to the end effector opening.
19. The method as claimed in claim 18 , wherein said dynamic coupling includes a rotational bearing.
20. The method as claimed in claim 18 , wherein said dynamic coupling includes any of a radial deep groove ball bearing, a four contact point ball bearing, a pair of tapered roller bearings, a cylindrical roller bearing, or solid bushings.
21. The method as claimed in claim 18 , wherein the dynamic coupling provides that the second portion of the end effector may spin freely and continuously without restriction with respect to the first portion of the end effector.
22. The method as claimed in claim 18 , wherein said dynamic coupling includes a damping source for providing a damping force inhibiting rotation of the second portion of the end effector with respect to the first portion of the end effector.
23. The method as claimed in claim 18 , wherein the method further includes the step of actively controlling the rotational position of the first portion of the end effector with respect to the second portion of the end effector.
24. A dynamic end effector system for connecting an end effector to an articulated arm comprising:
a first coupling portion having an arm attachment area for rigidly connecting the first coupling portion to the articulated arm;
an end effector; and
a second coupling portion rotatably connecting the end effector to the first coupling portion such that the end effector is able to spin about an axis of rotation freely through 360 degrees without constraints and under no active control,
wherein the end effector defines at an acquisition end thereof an end effector opening through which a vacuum is provided to engage an object, and wherein the first coupling portion includes a first portion opening at a center thereof and the second coupling portion includes a second portion opening at a center thereof, and wherein the vacuum is provided aloe a path passing through the first portion opening and the second portion opening to the end effector opening.
25. The dynamic end effector system of claim 24 , wherein the end effector includes a bellows extending along a longitudinal axis, wherein the longitudinal axis is parallel to the axis of rotation.
26. The dynamic end effector system of claim 24 , wherein the end effector opening through which the vacuum is provided to engage an object is centrally located at the acquisition end.
27. The dynamic end effector system of claim 26 , wherein the first portion opening and the second portion opening are centrally located with respect to each of the first coupling portion and the second coupling portion respectively.