SYSTEMS AND METHODS FOR OBJECT PROCESSING USING A PASSIVELY FOLDING VACUUM GRIPPER
An end-effector for a programmable motion device is disclosed. The end effector includes a body that includes a contact portion, the body providing an open interior through which a vacuum may be provided to the contact portion, and the body including at least one feature that is adapted to facilitate the contact portion to become substantially non-planar while grasping.
1 .- 43 . (canceled)
44 . A programmable motion device including an end-effector, the programmable motion device comprising a body that includes a contact portion, an open interior through which a vacuum is provided to the contact portion, the contact portion including a plurality of apertures defined therein through which the vacuum is provided to engage an object, and at least one hinge portion that includes at least two apertures of the series of apertures that are provided in a line that defines a bend path in the contact portion.
45 . The programmable motion device as claimed in claim 44 , wherein the at least one hinge portion includes at least three hinge portions.
46 . The programmable motion device as claimed in claim 44 , wherein the body includes a plurality of nodules.
47 . The programmable motion device as claimed in claim 44 , wherein the body includes a compliant material.
48 . The programmable motion device as claimed in claim 44 , wherein the plurality of apertures defined in the contact portion provides a larger area of opening at a central region thereof than an area of opening at the periphery thereof.
49 . The programmable motion device as claimed in claim 44 , wherein the plurality of apertures defined in the contact portion includes larger diameter apertures at a central region of the contact portion as compared to diameters of apertures at the periphery of the contact portion.
50 . The programmable motion device as claimed in claim 44 , wherein the periphery of the contact portion is generally triangular in shape.
51 . An object processing system including the programmable motion device of claim 44 .
52 . A programmable motion device with an end-effector including a body that comprises a contact portion, an open interior through which a vacuum may be provided to the contact portion, and at least one feature that is adapted to facilitate the contact portion to bend along at least one bend path while grasping, wherein the contact portion defines a plurality of apertures therein such that a central region of the contact portion has larger diameter apertures as compared to apertures at the periphery of the contact portion.
53 . The programmable motion device as claimed in claim 52 , wherein the at least one bend path is provided as a hinge-portion of the contact portion.
54 . The programmable motion device as claimed in claim 52 , wherein the at least one bend path is provided as at least two hinge portions.
55 . The programmable motion device as claimed in claim 52 , wherein the at least one bend path is provided as at least three hinge portions.
56 . The programmable motion device as claimed in claim 52 , wherein the at least one hinge portion includes a concavity in the contact portion that facilitates bending.
57 . The programmable motion device as claimed in claim 56 , wherein the concavity is formed in an inner surface of the contact portion that faces the open interior.
58 . The programmable motion device as claimed in claim 52 , wherein the at least one hinged portion is provided as a series of apertures in the contact portion.
59 . The programmable motion device as claimed in claim 58 , wherein the series of apertures are provided in a line that defines the bend path of the contact portion.
60 . The programmable motion device as claimed in claim 58 , wherein the body is provided as a plurality of nodules.
61 . The programmable motion device as claimed in claim 58 , wherein the body includes a plurality of three nodules.
62 . The end-effector as claimed in claim 58 , wherein the body includes a compliant material.
63 . The end-effector as claimed in claim 58 , wherein the plurality of apertures defined in the contact portion provides a larger area of opening at the central region of the contact portion than an area of opening at the periphery thereof.
64 . An object processing system including the programmable motion device of claim 58 .
65 . A method of grasping an object with an end-effector that includes a body that provides an open interior that is coupled to a vacuum, said method comprising:
contacting a contact portion of the body with the object, the contact portion having a plurality of apertures defined therein;
applying a vacuum through the plurality of apertures in the contact portion to the object to primarily engage the object through tension force between the contact portion and the object; and
permitting the contact portion of the body to bend along at least one bend path while grasping the object such that the object becomes primarily engaged with the object via a shear force that is greater than the tension force between the contact portion and the object, the at least one bend path being defined by a series of apertures in the contact portion.
66 . The method as claimed in claim 65 , wherein the at least one bend path includes at least three hinge portions.
67 . The method as claimed in claim 65 , wherein the plurality of apertures defined in the contact portion provides a larger area of opening at a central region of the contact portion than an area of opening at a periphery thereof.
68 . The method as claimed in claim 65 , wherein the plurality of apertures defined in the contact portion includes larger diameter openings at a central region of the contact portion as compared to diameters of apertures at a periphery of the contact portion.
69 . The method as claimed in claim 65 , wherein the periphery of the contact portion is generally triangular in shape.