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 dynamic end effector system for use with a programmable motion device, said dynamic end effector system comprising an end effector that includes a first portion for grasping an object, and a second portion for attachment to the programmable motion device, said first portion being coupled to the second portion via a rotational bearing that provides that the first portion of the end effector is freely rotatable 360 degrees with respect to the second portion of the end effector, said rotational bearing providing an open interior through which a vacuum pressure is provided to the first portion of the end effector, wherein the first portion of the end effector rotates freely with respect to the second portion of the end effector to reduce an unbalanced load on the grasped object.
2. The dynamic end effector system as claimed in claim 1 , wherein the rotational bearing includes a radial deep groove ball bearing.
3. The dynamic end effector system as claimed in claim 1 , wherein the rotational bearing includes a four contact point ball bearing.
4. The dynamic end effector system as claimed in claim 1 , wherein the rotational bearing includes a pair of tapered roller bearings.
5. The dynamic end effector system as claimed in claim 1 , wherein the rotational bearing includes a cylindrical roller bearing.
6. The dynamic end effector system as claimed in claim 1 , wherein the rotational bearing includes solid bushings.
7. The dynamic end effector system as claimed in claim 1 , wherein the first portion includes a flexible bellows.
8. The dynamic end effector system as claimed in claim 1 wherein the first portion is coupled to a vacuum source that is remote from the end effector.
9. The dynamic end effector system as claimed in claim 1 , wherein the dynamic end effector system further 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.
10. A dynamic end effector system for use with a programmable motion device, said dynamic end effector system comprising an end effector that includes a first portion having a vacuum cup for grasping an object, and a second portion for attachment to the programmable motion device, said first portion being coupled to the second portion via a rotational bearing such that the first portion of the end effector rotates freely and continuously with respect to the second portion of the end effector in response to an unbalanced load on the object grasped by the vacuum cup of the first portion.
11. The dynamic end effector system as claimed in claim 10 , wherein the rotational bearing includes a radial deep groove ball bearing.
12. The dynamic end effector system as claimed in claim 10 , wherein the rotational bearing includes a four contact point ball bearing.
13. The dynamic end effector system as claimed in claim 10 , wherein the rotational bearing includes a pair of tapered roller bearings.
14. The dynamic end effector system as claimed in claim 10 , wherein the rotational bearing includes a cylindrical roller bearing.
15. The dynamic end effector system as claimed in claim 10 , wherein the rotational bearing includes solid bushings.
16. The dynamic end effector system as claimed in claim 10 , wherein the first portion includes a flexible bellows.
17. The dynamic end effector system as claimed in claim 10 wherein the first portion is coupled to a vacuum source that is remote from the end effector.
18. The dynamic end effector system as claimed in claim 10 , wherein the dynamic end effector system further 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.
19. A dynamic end effector system for use with a programmable motion device, said dynamic end effector system comprising an end effector that includes a first portion having a vacuum cup for grasping an object, and a second portion for attachment to the programmable motion device, said first portion being coupled to the second portion via a rotational bearing on an outer periphery of the first portion such that the first portion of the end effector rotates freely with respect to the second portion of the end effector in response to the object grasped by the vacuum cup presenting an unbalanced load.
20. The dynamic end effector system as claimed in claim 19 , wherein said rotational bearing includes a radial deep groove ball bearing.
21. The dynamic end effector system as claimed in claim 19 , wherein said rotational bearing includes a four contact point ball bearing.
22. The dynamic end effector system as claimed in claim 19 , wherein said rotational bearing includes a pair of tapered roller bearings.
23. The dynamic end effector system as claimed in claim 19 , wherein said rotational bearing includes a cylindrical roller bearing.
24. The dynamic end effector system as claimed in claim 19 , wherein said rotational bearing includes solid bushings.
25. The dynamic end effector system as claimed in claim 19 , wherein the vacuum cup of said first portion includes a flexible bellows.
26. The dynamic end effector system as claimed in claim 19 wherein the first portion is coupled to a vacuum source that is remote from the end effector.
27. The dynamic end effector system as claimed in claim 19 , wherein the dynamic end effector system further 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.