Robotic gripper apparatus
Various aspects of robotic grippers are disclosed herein. In one aspect, a robotic gripper may include three gripper fingers arranged on a mechanical end effector, the three gripper fingers configured to translate radially when actuated to contact and align with a gripper interface located on a part to enable manipulation of the part. In various embodiments, each gripper finger may include an elongated portion configured to contact an outer surface of the gripper interface when the gripper fingers are actuated. Each gripper finger may further include a hook portion configured to contact an inner surface of the gripper interface opposing the outer surface. In various embodiments, the hook portion may include a receptacle positioned to align with a complementary protrusion on the gripper interface.
1 . A robotic gripper comprising:
three gripper fingers arranged on a mechanical end effector, the three gripper fingers configured to translate radially when actuated to contact and align with a gripper interface located on a part to enable manipulation of the part, each gripper finger including:
an elongated portion configured to contact an outer surface of the gripper interface when the gripper fingers are actuated; and
a hook portion configured to contact an inner surface of the gripper interface opposing the outer surface, the hook portion including a receptacle positioned to align with a complementary protrusion on the gripper interface.
2 . The gripper of claim 1 , wherein the hook portion is positioned at or near an end of the elongated portion on a middle surface of the end effector when the gripper finger is fully retracted.
3 . The gripper of claim 1 , wherein the gripper fingers are configured to move outward by an amount sufficient for the hook portion to securely engage the gripper interface.
4 . The gripper of claim 1 , further comprising support structures disposed on the end effector adjacent the gripper fingers to provide contact regions for the part during the alignment.
5 . The gripper of claim 4 , wherein the support structures are distributed across a border region of the end effector between the gripper fingers.
6 . The gripper of claim 4 , further comprising a protrusion arranged on one or more of the support structures and configured to engage a complementary feature on the part to stabilize the part when the gripper fingers are retracted after use.
7 . The gripper of claim 6 , wherein the protrusion is included on each of the support structures.
8 . The gripper of claim 1 , wherein an inner wall of the receptacle includes a mouth, the mouth having a width selected to maximize rotational stiffness of the part or repeatability of engagements with the part.
9 . The gripper of claim 1 , wherein the hook portion includes a flange on each side of the receptacle extending orthogonal to the elongated portion.
10 . The gripper of claim 9 , wherein each flange includes a front edge facing radially outward on each side of the receptacle.
11 . The gripper of claim 10 , wherein the front edge of each flange includes an inclined wall connected to a surface of the elongated portion to form a wedge configured to hook with the gripper interface.
12 . The gripper of claim 11 , wherein the inclined wall forms an angle of less than ninety (90) degrees with the surface of the elongated portion, the angle being selected to optimize rotational, overturning, or axial stiffness of the part or repeatability of engagements with the part.
13 . The gripper of claim 11 , wherein the inclined wall is made at least partly flush with the inner surface of the gripper interface when the gripper fingers are aligned with the gripper interface.
14 . The gripper of claim 1 , wherein a surface of the end effector includes an aperture configured to guide the elongated portion during an outward translation of the respective gripper finger using a fastener that extends through the aperture.
15 . The gripper of claim 1 , wherein the end effector is configured to push off the gripper interface upon release of the part to prevent adhesive binding of the gripper interface and one or more of the gripper fingers.
16 . The gripper of claim 1 , further comprising a sensor configured to determine whether or not the gripper fingers are secured to the gripper interface.
17 . The gripper of claim 1 , further comprising a washer arranged between a coupler and a piston head of the gripper and configured to extend an effective length of the gripper finger.
18 . A robotic gripper, comprising:
three gripper fingers arranged on a mechanical end effector and configured to translate radially outward when actuated to engage a gripper interface located on a part to enable manipulation of the part, each gripper finger including:
an elongated portion arranged on the end effector and configured to contact an outer surface of the gripper interface when the gripper fingers are actuated, and
a hook portion configured to contact an inner surface of the gripper interface opposing the outer surface to securely engage the gripper interface; and
a sensor configured to determine whether the gripper fingers are locked with the gripper interface.
19 . The gripper of claim 18 , wherein the hook portion includes a receptacle positioned to align with a complementary protrusion on the gripper interface.
20 . The gripper of claim 18 , wherein the gripper fingers are configured to move from a fully retracted position to engage the gripper interface to enter a locked position.
21 . The gripper of claim 18 , wherein a base of the elongated portion is seated at least in part within an aperture formed in the end effector, the aperture being configured to guide the gripper finger during the translation.
22 . The gripper of claim 18 , further comprising support structures disposed on the end effector adjacent the gripper fingers to provide contact regions for the part during the engagement with the gripper interface.
23 . The gripper of claim 22 , further comprising a dome-like protrusion arranged on one or more of the support structures and configured to engage a complementary feature on the part to stabilize the part when the gripper fingers are retracted after use.
24 . The gripper of claim 18 , wherein the hook portion includes a flange on each side of a receptacle extending orthogonal to the elongated portion, the flanges on each side including a front edge facing radially outward.
25 . The gripper of claim 24 , wherein the front edge of each of the flanges includes an inclined wall connected to a surface of the elongated portion to form a wedge configured to hook with the gripper interface.
26 . The gripper of claim 25 , wherein the inclined wall is made flush with the inner surface of the gripper interface upon alignment of the gripper fingers with the gripper interface.
27 . A robotic gripper, comprising:
three gripper fingers arranged on a mechanical end effector and configured when actuated to translate radially outward to contact and engage a gripper interface located on a part to enable manipulation of the part, each gripper finger including:
a base portion arranged along a surface of the end effector and configured to contact an outer surface of the gripper interface during the engagement; and
a hook portion configured to contact an inner surface of the gripper interface opposing the outer surface, the hook portion further including a first feature positioned to align with a second feature on the gripper interface, the second feature being complementary to the first feature, and wherein the first feature comprises a protrusion or a recess.
28 . The gripper of claim 27 , further comprising support structures disposed on the end effector adjacent the gripper fingers to provide contact regions for the part during the alignment.
29 . The gripper of claim 28 , wherein the support structures are distributed across a border region of the end effector between the gripper fingers.
30 . The gripper of claim 28 , further comprising a dome-like protrusion arranged on one or more of the support structures and configured to stabilize the part when the gripper fingers are retracted after use.
31 . The gripper of claim 27 , wherein the hook portion includes an inward-facing wall connected to a surface of the base portion and configured to contact the inner portion of the gripper interface upon the engagement.
32 . The gripper of claim 31 , wherein an angle of the wall is selected to optimize rotational, overturning, or axial stiffness of the part or repeatability of engagements with the part.
33 . The gripper of claim 32 , wherein the wall is made flush with the inner surface of the gripper interface upon the alignment of the gripper fingers with the gripper interface.