ROBOTIC SYSTEM FOR PICKING, SORTING, AND PLACING A PLURALITY OF RANDOM AND NOVEL OBJECTS
The present disclosure generally relates to pick and place robotic systems. An exemplary compliant mechanism comprises: a motion device, wherein a distal surface of the motion device comprises a first plurality of magnetic components; an end effector, wherein the end effector comprises: a second plurality of magnetic components arranged on a proximal surface of the end effector in a same configuration as the first plurality of magnetic components, a rod, and an elongated member extending through a hole in the proximal surface of the end effector, wherein: a proximal end of the elongated member is affixed to the distal surface of the motion device, and the elongated member comprises an end stopper piece configured to prevent a distal end of the elongated member from passing through the hole in the proximal surface of the end effector.
1 . A compliant mechanism, comprising:
a motion device, wherein a distal surface of the motion device comprises a first plurality of magnetic components;
an end effector, wherein the end effector comprises:
a second plurality of magnetic components arranged on a proximal surface of the end effector in a same configuration as the first plurality of magnetic components,
a rod, and
an elongated member extending through a hole in the proximal surface of the end effector, wherein:
a proximal end of the elongated member is affixed to the distal surface of the motion device, and
the elongated member comprises an end stopper piece configured to prevent a distal end of the elongated member from passing through the hole in the proximal surface of the end effector.
2 . The compliant mechanism of claim 1 , wherein the compliant mechanism is configured to:
while the proximal surface of the end effector is attached to the distal surface of the motion device via the first plurality of magnetic components and the second plurality of magnetic components, in response to receiving a lateral force to the rod, cause one or more of the first plurality of magnetic components to detach from one or more of the second plurality of magnetic components, and
in response to stopping receiving the lateral force, cause the proximal surface of the end effector to automatically attach to the distal surface of the motion device via the first plurality of magnetic components and the second plurality of magnetic components.
3 . The compliant mechanism of claim 1 , wherein:
one of the distal surface of the motion device and the proximal surface of the end effector comprises one or more pins; and
the other one of the distal surface of the motion device and the proximal surface of the end effector comprises one or more openings for receiving the one or more pins.
4 . The compliant mechanism of claim 3 , wherein the one or more pins each comprises a tapered top.
5 . The compliant mechanism of claim 1 , wherein the motion device comprises at least a portion of a robotic arm.
6 . The compliant mechanism of claim 1 , wherein the second plurality of magnetic components are spaced circumferentially on the proximal surface of the end effector.
7 . The compliant mechanism of claim 1 , wherein the second plurality of magnetic components are affixed to the proximal surface of the end effector via a screw mechanism.
8 . The compliant mechanism of claim 1 , wherein the elongated member comprises a screw.
9 . The compliant mechanism of claim 1 , wherein the proximal end of the elongated member is affixed to the distal surface of the motion device via a screw mechanism.
10 . The compliant mechanism of claim 1 , wherein the end stopper piece comprises a bolt.
11 . The compliant mechanism of claim 1 , wherein the proximal end of the rod is attachable to a flexible tube in the motion device.
12 . The compliant mechanism of claim 1 , wherein the elongated member is a first elongated member, the compliant mechanism further comprising a second elongated member.
13 . The compliant mechanism of claim 1 , further comprising one or more sensors for detecting detachment between a portion of the proximal surface of the end effector and a portion of the distal surface of the motion device.
14 . An end effector attachable to a motion device, comprising:
a plurality of magnetic components arranged on a proximal surface of the end effector;
a rod, and
an elongated member extending through a hole in the proximal surface of the end effector, wherein:
a proximal end of the elongated member is attachable to a distal surface of the motion device, and
the elongated member comprises an end stopper piece configured to prevent a distal end of the elongated member from passing through the hole in the proximal surface of the end effector.
15 . The end effector of claim 14 ,
wherein the plurality of magnetic components is a second plurality of magnetic components,
wherein the second plurality of magnetic components are arranged in a same configuration as a first plurality of magnetic components arranged on the distal surface of the motion device, and
wherein the end effector is configured to:
while the proximal surface of the end effector is attached to a distal surface of the motion device via the first plurality of magnetic components and the second plurality of magnetic components, in response to receiving a lateral force to the rod, cause one or more of the first plurality of magnetic components to detach from one or more of the second plurality of magnetic components, and
in response to stopping receiving the lateral force, cause the proximal surface of the end effector to automatically attach to the distal surface of the motion device via the first plurality of magnetic components and the second plurality of magnetic components.
16 . The end effector of claim 14 , further comprising one or more pins on the proximal surface of the end effector.
17 . The end effector of claim 16 , wherein the one or more pins each comprises a tapered top.
18 . The end effector of claim 14 , wherein the plurality of magnetic components are spaced circumferentially on the proximal surface of the end effector.
19 . The end effector of claim 14 , wherein the plurality of magnetic components are affixed to the proximal surface of the end effector via a screw mechanism.
20 . The end effector of claim 14 , wherein the elongated member comprises a screw.