Systems and methods for providing, in programmable motion devices, compliant end effectors with noise mitigation

1. A vacuum cup for use in a programmable motion device, said vacuum cup comprising an open inlet for coupling to a vacuum source, and a vacuum cup lip on a portion of the vacuum cup that generally surrounds an open outlet, said vacuum cup lip including an inner surface that defines the open outlet through which a vacuum is provided, and including noise mitigation features on an outer surface of the vacuum cup lip, and

wherein said noise mitigation features include protrusions from the vacuum cup lip on the outer surface of the vacuum cup lip and said protrusions are positioned alternate internal ribs on an inner surface of the vacuum cup lip.

2. The vacuum cup as claimed in claim 1 , wherein vacuum cup lip is formed of a flexible polymeric material.

3. The vacuum cup as claimed in claim 1 , wherein said noise mitigation features are formed of a polymeric material.

4. The vacuum cup as claimed in claim 1 , wherein said noise mitigation features encircle the vacuum cup lip in a discontinuous manner.

5. The vacuum cup as claimed in claim 1 , wherein said vacuum cup includes a flexible bellows portion.

6. The vacuum cup as claimed in claim 1 , wherein said vacuum cup is generally conically shaped.

7. A vacuum cup for use in a programmable motion device, said vacuum cup comprising an open inlet for coupling to a vacuum source, a vacuum cup lip on a portion of the vacuum cup that is generally opposite the open inlet, and a vacuum cup open outlet through which a vacuum is provided, said vacuum cup including a plurality of protrusions on an outer surface of the vacuum cup lip, and

wherein said plurality of protrusions include at least partially generally spherical protrusions and said plurality of protrusions are positioned alternate internal ribs on an inner surface of the vacuum cup lip.

8. The vacuum cup as claimed in claim 7 , wherein vacuum cup is formed of a flexible polymeric material.

9. The vacuum cup as claimed in claim 7 , wherein said plurality of protrusions are formed of a polymeric material.

10. The vacuum cup as claimed in claim 7 , wherein vacuum cup is formed of a flexible elastomeric material.

11. The vacuum cup as claimed in claim 7 , wherein said plurality of protrusions encircle the vacuum cup open outlet in a discontinuous manner.

12. The vacuum cup as claimed in claim 7 , wherein said vacuum cup includes a flexible bellows portion.

13. The vacuum cup as claimed in claim 7 , wherein said vacuum cup is generally conically shaped.

14. The vacuum cup as claimed in claim 7 , wherein the plurality of protrusions provide that the vacuum cup lip includes alternating areas of relatively thin and relatively thicker lip thicknesses.

15. A method of providing a vacuum source in a programmable motion device, said method comprising:

coupling the vacuum source to an open inlet of a vacuum cup, said vacuum cup including noise mitigation features on an outer surface of the vacuum cup, wherein said noise mitigation features include protrusions from the vacuum cup on the outer surface of the vacuum cup and said protrusions are positioned alternate internal ribs on an inner surface of the vacuum cup; and

providing a vacuum cup open outlet through which a vacuum is provided.

16. The method as claimed in claim 15 , wherein said noise mitigation features are formed of a polymeric material.

17. The method as claimed in claim 15 , wherein said noise mitigation features are formed of an elastomeric material.

18. The method as claimed in claim 15 , wherein said noise mitigation features encircle the vacuum cup open outlet in a discontinuous manner.

19. The method as claimed in claim 15 , wherein said vacuum cup includes a flexible bellows portion.

20. The method as claimed in claim 15 , wherein said noise mitigation features alter a resonance of the open outlet of the vacuum cup.

21. The method as claimed in claim 15 , wherein the method further includes damping a resonance of a lip of the vacuum cup while the vacuum is provided through the open outlet.

22. The method as claimed in claim 21 , wherein the vacuum has a vacuum pressure of no more than about 50,000 Pascals below atmospheric.

23. A system for providing automated processing of objects, said system comprising a programmable motion device including an end effector that is coupled to a vacuum source, said end effector including a vacuum cup that includes noise mitigation features on an outer surface of the vacuum cup, and

wherein said noise mitigation features include protrusions from a vacuum cup lip on the outer surface of the vacuum cup and said protrusions are positioned alternate internal ribs on an inner surface of the vacuum cup.

24. The system as claimed in claim 23 , wherein said noise mitigation features encircle a vacuum cup lip in a discontinuous manner.

25. The system as claimed in claim 23 , wherein said vacuum cup includes a flexible bellows portion.

26. The system as claimed in claim 23 , wherein the vacuum source provides a maximum air flow rate at the end effector of at least about 100 cubic feet per minute.

27. The system as claimed in claim 23 , wherein the vacuum source provides a vacuum pressure at the end effector of no more than about 50,000 Pascals below atmospheric.