Google Patentsopen access

Modular robotics systems — Soft Robotics, Inc. (US20210187755A1)

ABSTRACT

Abstract

Exemplary embodiments provide modular robotic systems that allow one or more operation parameters of a robotic actuator, or group of actuators, to be dynamically configured or reconfigured. The operation parameters may be, for example, the X, Y, and/or Z position of the actuator or group of actuators with respect to other actuators, the arrangement of the actuator(s) into an array or matrix, the rotation or pitch of an actuator, the distance between actuators, the grip strength or grip surface of an actuator, etc. Accordingly, the same robotic manipulator(s) may be used for multiple purposes in multiple different contexts, manipulators can be swapped out on-the-fly, and robotic systems may be dynamically reconfigured to perform new tasks.

Description

RELATED APPLICATIONS

This application is a continuation application of U.S. application Ser. No. 16/215,695, filed Dec. 11, 2018, which is a continuation application of U.S. application Ser. No. 15/180,653, filed Jun. 13, 2016, which claims priority to U.S. Provisional Patent Application Ser. No. 62/174,234, filed on Jun. 11, 2015 and entitled “Modular Robotic Systems.” The contents of the aforementioned application are incorporated herein by reference.

BACKGROUND

Robotic systems are employed in a number of different contexts, and may be called upon to perform a wide variety of different tasks. Robots typically manipulate objects around them using robotic manipulators such as individual actuators, grippers, or end effectors.

Conventionally, robots may be deployed with a particular type of manipulator that is fixed. Accordingly, in a different context, the robot may be swapped out for a different robot with a different type of manipulator. Alternatively, the robot's manipulator may be interchangeable with other types of manipulators. However, swapping robotic manipulators can be a time consuming, complex, expensive, and non-intuitive process.

Still further, a robot may have the appropriate type of manipulator for a task, but the manipulator may be set up in a sub-optimal (or even non-useful) way. For example, a robot may use the same type of manipulator to pick up tennis balls and soccer balls, but a manipulator sized and configured to pick up a tennis ball may be an ill fit for picking up a soccer ball.

Manipulators may also be deployed in groups. For example, an industrial assembly line may be operated by a robot having several manipulators connected in series, so that the robot can perform tasks with respect to multiple parts at the same time. However, such groups of manipulators are often deployed in a predetermined configuration that is difficult to change on-the-fly. If the context in which the manipulators are employed changes, the manipulators may need to be manually reconfigured. Custom adjustable grippers may also be expensive and may require substantial engineering time to develop.

In some cases, manipulators can wear out and need to be replaced. This is also typically a manual process, which involves removing the old manipulator and replacing it with a new one. If the broken manipulator is a part of a group of manipulators, the entire group may be taken out of operation when one manipulator breaks.

SUMMARY

The present application addresses these and other problems associated with robotic systems. According to exemplary embodiments, modular robotic systems are described. The modular robotic systems allow some aspect of the robotic manipulator, or groups of manipulators, to be modified in a simple and dynamic fashion. Accordingly, the same robotic manipulator(s) may be used for multiple purposes in multiple different contexts, manipulators can be swapped out on-the-fly, and robotic systems may be dynamically reconfigured to perform new tasks.

BRIEF DESCRIPTION OF THE FIGURES

FIGS. 1A-1D depict exemplary soft robotic actuators suitable for use with exemplary embodiments described herein.

FIGS. 2A-2C depict examples of systems for adjusting the position of robotic actuators using a rail, according to an exemplary embodiment.

FIGS. 3A-3D depict further examples of systems for adjusting the position of robotic actuators using a plurality of rails, according to an exemplary embodiment.

FIGS. 4A-4C depict an example of a modular array of actuators, according to exemplary embodiments.

FIGS. 5A-5D depict examples of mounting modular robotic grippers to a mounting plate containing a periodic hole array, according to an exemplary embodiment.

FIGS. 6A-6D depict examples of soft actuators having overmolded magnets provided in a quick-connect flange, according to an exemplary embodiment.

FIGS. 7A-7F depict examples of systems for adaptable finger rotation, according to exemplary embodiments.

FIGS. 8A-8E depict examples of modular interlocking gripper arrays, according to an exemplary embodiment.

FIGS. 9A-9D depicts examples of actuated mechanical connections between gripper arrays according to exemplary embodiments.

FIGS. 10A-10E depict examples of electrical, mechanical, and pneumatic connections between grippers, according to exemplary embodiments.

FIGS. 11A-11D depict examples of reconfigurable collar components for adjusting a length of an actuator used for gripping according to an exemplary embodiment.

FIGS. 12A-12B depict an exemplary rigidizing adapter suitable for use with exemplary embodiments.

FIGS. 13A-13K depict examples of adaptable reinforcements for object gripping and oscillation reduction according to exemplary embodiments.

FIGS. 14A-14B depict examples of finger webbing suitable for use with exemplary embodiments.

FIG. 15A-15C depicts an example of a system for automatic actuator pop detection and shut-off, according to an exemplary embodiment.

FIGS. 16A-16D depict an example of a system for rapidly and dynamically changing an actuator, according to exemplary embodiments.

DETAILED DESCRIPTION

Exemplary embodiments relate to modular robotic systems in which various parameters of the system can be adjusted dynamically to reconfigure the system. More specifically, Exemplary embodiments provide modular robotic manipulators that can be dynamically reconfigured to operate in different contexts and with different grasp targets. As used herein, modularity refers to the ability to change one or more operating parameters of a robotic actuator, manipulator, end effector, or gripper (the terms “manipulators,” “actuators,” “end effectors,” and “grippers” are generally used interchangeably herein). Such operating parameters include, but are not limited to, the absolute position of the actuator in a Cartesian plane or three-dimensional space, the orientation of the actuator (ϕ,θ,ψ), the position of the actuator relative to other actuators in the X, Y, and/or Z plane, the pitch of the actuator relative to its base, the rotation angle of the actuator, the degree of flexion or curvature of an actuator, and the arrangement or configuration of actuators in an array or matrix, among other possibilities.

Exemplary embodiments may be advantageously employed in conjunction with soft robotic actuators. Soft robotic actuators are relatively non-rigid actuators that may be actuated, for example, by filling the actuator with a fluid such as air or water. The soft actuator may be configured so that, by varying the pressure of the fluid in the actuator, the shape of the actuator changes. Accordingly, the actuator can be made to, for instance, wrap around an object. Because the soft actuator is relatively non-rigid, the actuator may better conform to the surface of the grasped object, allowing the actuator to gain a better hold on the object or more gently hold fragile objects. Thus, soft actuators can be employed in a wide variety of applications as compared to rigid actuators, which makes the exemplary modular systems particularly well-suited to use with soft actuators.

A brief overview of soft robotic actuators and grippers will first be provided, followed by a detailed description of various aspects of exemplary embodiments. Unless otherwise noted, it is contemplated that each of the described embodiments may be used in any combination with each other (e.g., allowing for translation and rotation of an actuator, mounting modular arrays of grippers on rails, etc.).

Background on Soft Robotic Grippers

Conventional robotic grippers or actuators may be expensive and incapable of operating in certain environments where the uncertainty and variety in the weight, compliance, size, and shape of the object being handled has prevented automated solutions from working in the past. The present application describes applications of novel soft robotic actuators that are adaptive, inexpensive, lightweight, customizable, and simple to use.

Soft robotic actuators may be formed of elastomeric materials, such as rubber, or thin walls of plastic arranged in an accordion structure that is configured to unfold, stretch, and/or bend under pressure, or other suitable relatively soft materials. They may be created, for example, by molding one or more pieces of the elastomeric material into a desired shape. Soft robotic actuators may include a hollow interior that can be filled with a fluid, such as air, water, or saline to pressurize, inflate, and/or actuate the actuator. Upon actuation, the shape or profile of the actuator changes. In the case of an accordion-style actuator (described in more detail below), actuation may cause the actuator to curve or straighten into a predetermined target shape. One or more intermediate target shapes between a fully unactuated shape and a fully actuated shape may be achieved by partially inflating the actuator. Alternatively or in addition, the actuator may be actuated using a vacuum to remove inflation fluid from the actuator and thereby change the degree to which the actuator bends, twists, and/or extends.

Actuation may also allow the actuator to exert a force on an object, such as an object being grasped or pushed. However, unlike traditional hard robotic actuators, soft actuators maintain adaptive properties when actuated such that the soft actuator can partially or fully conform to the shape of the object being grasped. They can also deflect upon collision with an object, which may be particularly relevant when picking an object off of a pile or out of a bin, since the actuator is likely to collide with neighboring objects in the pile that are not the grasp target, or the sides of the bin. Furthermore, the amount of force applied can be spread out over a larger surface area in a controlled manner because the material can easily deform. In this way, soft robotic actuators can grip objects without damaging them.

Moreover, soft robotic actuators allow for types of motions or combinations of motions (including bending, twisting, extending, and contracting) that can be difficult to achieve with traditional hard robotic actuators.

FIGS. 1A-1D depict exemplary soft robotic actuators. More specifically, FIG. 1A depicts a side view of a portion of a soft robotic actuator. FIG. 1B depicts the portion from FIG. 1A from the top. FIG. 1C depicts a side view of a portion of the soft robotic actuator including a pump that may be manipulated by a user. FIG. 1D depicts an alternative embodiment for the portion depicted in FIG. 1C .

An actuator may be a soft robotic actuator 100 , as depicted in FIG. 1A , which is inflatable with an inflation fluid such as air, water, or saline. The inflation fluid may be provided via an inflation device 120 through a fluidic connection 118 .

The actuator 100 may be in an uninflated state in which a limited amount of inflation fluid is present in the actuator 100 at substantially the same pressure as the ambient environment. The actuator 100 may also be in a fully inflated state in which a predetermined amount of inflation fluid is present in the actuator 100 (the predetermined amount corresponding to a predetermined maximum force to be applied by the actuator 100 or a predetermined maximum pressure applied by the inflation fluid on the actuator 100 ). The actuator 100 may also be in a full vacuum state, in which all fluid is removed from the actuator 100 , or a partial vacuum state, in which some fluid is present in the actuator 100 but at a pressure that is less than the ambient pressure. Furthermore, the actuator 100 may be in a partially inflated state in which the actuator 100 contains less than the predetermined amount of inflation fluid that is present in the fully inflated state, but more than no (or very limited) inflation fluid.

In the inflated state, the <figure-callout id="100" label="ac

RELATED APPLICATIONS

This application is a continuation application of U.S. application Ser. No. 16/215,695, filed Dec. 11, 2018, which is a continuation application of U.S. application Ser. No. 15/180,653, filed Jun. 13, 2016, which claims priority to U.S. Provisional Patent Application Ser. No. 62/174,234, filed on Jun. 11, 2015 and entitled “Modular Robotic Systems.” The contents of the aforementioned application are incorporated herein by reference.

BACKGROUND

Robotic systems are employed in a number of different contexts, and may be called upon to perform a wide variety of different tasks. Robots typically manipulate objects around them using robotic manipulators such as individual actuators, grippers, or end effectors.

Conventionally, robots may be deployed with a particular type of manipulator that is fixed. Accordingly, in a different context, the robot may be swapped out for a different robot with a different type of manipulator. Alternatively, the robot&#39;s manipulator may be interchangeable with other types of manipulators. However, swapping robotic manipulators can be a time consuming, complex, expensive, and non-intuitive process.

Still further, a robot may have the appropriate type of manipulator for a task, but the manipulator may be set up in a sub-optimal (or even non-useful) way. For example, a robot may use the same type of manipulator to pick up tennis balls and soccer balls, but a manipulator sized and configured to pick up a tennis ball may be an ill fit for picking up a soccer ball.

Manipulators may also be deployed in groups. For example, an industrial assembly line may be operated by a robot having several manipulators connected in series, so that the robot can perform tasks with respect to multiple parts at the same time. However, such groups of manipulators are often deployed in a predetermined configuration that is difficult to change on-the-fly. If the context in which the manipulators are employed changes, the manipulators may need to be manually reconfigured. Custom adjustable grippers may also be expensive and may require substantial engineering time to develop.

In some cases, manipulators can wear out and need to be replaced. This is also typically a manual process, which involves removing the old manipulator and replacing it with a new one. If the broken manipulator is a part of a group of manipulators, the entire group may be taken out of operation when one manipulator breaks.

SUMMARY

The present application addresses these and other problems associated with robotic systems. According to exemplary embodiments, modular robotic systems are described. The modular robotic systems allow some aspect of the robotic manipulator, or groups of manipulators, to be modified in a simple and dynamic fashion. Accordingly, the same robotic manipulator(s) may be used for multiple purposes in multiple different contexts, manipulators can be swapped out on-the-fly, and robotic systems may be dynamically reconfigured to perform new tasks.

BRIEF DESCRIPTION OF THE FIGURES

FIGS. 1A-1D depict exemplary soft robotic actuators suitable for use with exemplary embodiments described herein.

FIGS. 2A-2C depict examples of systems for adjusting the position of robotic actuators using a rail, according to an exemplary embodiment.

FIGS. 3A-3D depict further examples of systems for adjusting the position of robotic actuators using a plurality of rails, according to an exemplary embodiment.

FIGS. 4A-4C depict an example of a modular array of actuators, according to exemplary embodiments.

FIGS. 5A-5D depict examples of mounting modular robotic grippers to a mounting plate containing a periodic hole array, according to an exemplary embodiment.

FIGS. 6A-6D depict examples of soft actuators having overmolded magnets provided in a quick-connect flange, according to an exemplary embodiment.

FIGS. 7A-7F depict examples of systems for adaptable finger rotation, according to exemplary embodiments.

FIGS. 8A-8E depict examples of modular interlocking gripper arrays, according to an exemplary embodiment.

FIGS. 9A-9D depicts examples of actuated mechanical connections between gripper arrays according to exemplary embodiments.

FIGS. 10A-10E depict examples of electrical, mechanical, and pneumatic connections between grippers, according to exemplary embodiments.

FIGS. 11A-11D depict examples of reconfigurable collar components for adjusting a length of an actuator used for gripping according to an exemplary embodiment.

FIGS. 12A-12B depict an exemplary rigidizing adapter suitable for use with exemplary embodiments.

FIGS. 13A-13K depict examples of adaptable reinforcements for object gripping and oscillation reduction according to exemplary embodiments.

FIGS. 14A-14B depict examples of finger webbing suitable for use with exemplary embodiments.

FIG. 15A-15C depicts an example of a system for automatic actuator pop detection and shut-off, according to an exemplary embodiment.

FIGS. 16A-16D depict an example of a system for rapidly and dynamically changing an actuator, according to exemplary embodiments.

DETAILED DESCRIPTION

Exemplary embodiments relate to modular robotic systems in which various parameters of the system can be adjusted dynamically to reconfigure the system. More specifically, Exemplary embodiments provide modular robotic manipulators that can be dynamically reconfigured to operate in different contexts and with different grasp targets. As used herein, modularity refers to the ability to change one or more operating parameters of a robotic actuator, manipulator, end effector, or gripper (the terms “manipulators,” “actuators,” “end effectors,” and “grippers” are generally used interchangeably herein). Such operating parameters include, but are not limited to, the absolute position of the actuator in a Cartesian plane or three-dimensional space, the orientation of the actuator (ϕ,θ,ψ), the position of the actuator relative to other actuators in the X, Y, and/or Z plane, the pitch of the actuator relative to its base, the rotation angle of the actuator, the degree of flexion or curvature of an actuator, and the arrangement or configuration of actuators in an array or matrix, among other possibilities.

Exemplary embodiments may be advantageously employed in conjunction with soft robotic actuators. Soft robotic actuators are relatively non-rigid actuators that may be actuated, for example, by filling the actuator with a fluid such as air or water. The soft actuator may be configured so that, by varying the pressure of the fluid in the actuator, the shape of the actuator changes. Accordingly, the actuator can be made to, for instance, wrap around an object. Because the soft actuator is relatively non-rigid, the actuator may better conform to the surface of the grasped object, allowing the actuator to gain a better hold on the object or more gently hold fragile objects. Thus, soft actuators can be employed in a wide variety of applications as compared to rigid actuators, which makes the exemplary modular systems particularly well-suited to use with soft actuators.

A brief overview of soft robotic actuators and grippers will first be provided, followed by a detailed description of various aspects of exemplary embodiments. Unless otherwise noted, it is contemplated that each of the described embodiments may be used in any combination with each other (e.g., allowing for translation and rotation of an actuator, mounting modular arrays of grippers on rails, etc.).

Background on Soft Robotic Grippers

Conventional robotic grippers or actuators may be expensive and incapable of operating in certain environments where the uncertainty and variety in the weight, compliance, size, and shape of the object being handled has prevented automated solutions from working in the past. The present application describes applications of novel soft robotic actuators that are adaptive, inexpensive, lightweight, customizable, and simple to use.

Soft robotic actuators may be formed of elastomeric materials, such as rubber, or thin walls of plastic arranged in an accordion structure that is configured to unfold, stretch, and/or bend under pressure, or other suitable relatively soft materials. They may be created, for example, by molding one or more pieces of the elastomeric material into a desired shape. Soft robotic actuators may include a hollow interior that can be filled with a fluid, such as air, water, or saline to pressurize, inflate, and/or actuate the actuator. Upon actuation, the shape or profile of the actuator changes. In the case of an accordion-style actuator (described in more detail below), actuation may cause the actuator to curve or straighten into a predetermined target shape. One or more intermediate target shapes between a fully unactuated shape and a fully actuated shape may be achieved by partially inflating the actuator. Alternatively or in addition, the actuator may be actuated using a vacuum to remove inflation fluid from the actuator and thereby change the degree to which the actuator bends, twists, and/or extends.

Actuation may also allow the actuator to exert a force on an object, such as an object being grasped or pushed. However, unlike traditional hard robotic actuators, soft actuators maintain adaptive properties when actuated such that the soft actuator can partially or fully conform to the shape of the object being grasped. They can also deflect upon collision with an object, which may be particularly relevant when picking an object off of a pile or out of a bin, since the actuator is likely to collide with neighboring objects in the pile that are not the grasp target, or the sides of the bin. Furthermore, the amount of force applied can be spread out over a larger surface area in a controlled manner because the material can easily deform. In this way, soft robotic actuators can grip objects without damaging them.

Moreover, soft robotic actuators allow for types of motions or combinations of motions (including bending, twisting, extending, and contracting) that can be difficult to achieve with traditional hard robotic actuators.

FIGS. 1A-1D depict exemplary soft robotic actuators. More specifically, FIG. 1A depicts a side view of a portion of a soft robotic actuator. FIG. 1B depicts the portion from FIG. 1A from the top. FIG. 1C depicts a side view of a portion of the soft robotic actuator including a pump that may be manipulated by a user. FIG. 1D depicts an alternative embodiment for the portion depicted in FIG. 1C .

An actuator may be a soft robotic actuator 100 , as depicted in FIG. 1A , which is inflatable with an inflation fluid such as air, water, or saline. The inflation fluid may be provided via an inflation device 120 through a fluidic connection 118 .

The actuator 100 may be in an uninflated state in which a limited amount of inflation fluid is present in the actuator 100 at substantially the same pressure as the ambient environment. The actuator 100 may also be in a fully inflated state in which a predetermined amount of inflation fluid is present in the actuator 100 (the predetermined amount corresponding to a predetermined maximum force to be applied by the actuator 100 or a predetermined maximum pressure applied by the inflation fluid on the actuator 100 ). The actuator 100 may also be in a full vacuum state, in which all fluid is removed from the actuator 100 , or a partial vacuum state, in which some fluid is present in the actuator 100 but at a pressure that is less than the ambient pressure. Furthermore, the actuator 100 may be in a partially inflated state in which the actuator 100 contains less than the predetermined amount of inflation fluid that is present in the fully inflated state, but more than no (or very limited) inflation fluid.

In the inflated state, the actuator 100 may exhibit a tendency to curve around a central axis as shown in FIG. 1A . For ease of discussion, several directions are defined herein. An axial direction passes through the central axis around which the actuator 100 curves, as shown in FIG. 1B . A radial direction extends in a direction perpendicular to the axial direction, in the direction of the radius of the partial circle formed by the inflated actuator 100 . A circumferential direction extends along a circumference of the inflated actuator 100 .

In the inflated state, the actuator 100 may exert a force in the radial direction along the inner circumferential edge of the actuator 100 . For example, the inner side of the distal tip of the actuator 100 exerts a force inward, toward the central axis, which may be leveraged to allow the actuator 100 to grasp an object (potentially in conjunction with one or more additional actuators 100 ). The soft robotic actuator 100 may remain relatively conformal when inflated, due to the materials used and the general construction of the actuator 100 .

The actuator 100 may be made of one or more elastomeric materials that allow for a relatively soft or conformal construction. Depending on the application, the elastomeric materials may be selected from a group of food-safe, biocompatible, or medically safe, FDA-approved materials. The actuator 100 may be manufactured in a Good Manufacturing Process (“GMP”)-capable facility.

The actuator 100 may include a base 102 that is substantially flat (although various amendments or appendages may be added to the base 102 in order to improve the actuator&#39;s gripping and/or bending capabilities). The base 102 may form a gripping surface that grasps a target object.

The actuator 100 may include one or more accordion extensions 104 . The accordion extensions 104 allow the actuator 100 to bend or flex when inflated, and help to define the shape of the actuator 100 when in an inflated state. The accordion extensions 104 include a series of ridges 106 and troughs 108 . The size of the accordion extensions 104 and the placement of the ridges 106 and troughs 108 can be varied to obtain different shapes or extension profiles.

Although the exemplary actuator of FIGS. 1A-1D is depicted in a “C” or oval shape when deployed, one of ordinary skill in the art will recognize that the present invention is not so limited. By changing the shape of the body of the actuator 100 , or the size, position, or configuration of the accordion extensions 104 , different sizes, shapes, and configurations may be achieved. Moreover, varying the amount of inflation fluid provided to the actuator 100 allows the retractor to take on one or more intermediate sizes or shapes between the un-inflated state and the inflated state. Thus, an individual actuator 100 can be scalable in size and shape by varying inflation amount, and an actuator can be further scalable in size and shape by replacing one actuator 100 with another actuator 100 having a different size, shape, or configuration.

The actuator 100 extends from a proximal end 112 to a distal end 110 . The proximal end 112 connects to an interface 114 . The interface 114 allows the actuator 100 to be releasably coupled to other parts of the incision retractor. The interface 114 may be made of a medically safe material, such as polyethylene, polypropylene, polycarbonate, polyetheretherketone, acrylonitrile-butadiene-styrene (“ABS”), or acetal homopolymer. The interface 114 may be releasably coupled to one or both of the actuator 100 and the flexible tubing 118 . The interface 114 may have a port for connecting to the actuator 100 . Different interfaces 114 may have different sizes, numbers, or configurations of actuator ports, in order to accommodate larger or smaller actuators, different numbers of actuators, or actuators in different configurations.

The actuator 100 may be inflated with an inflation fluid supplied from an inflation device 120 through a fluidic connection such as flexible tubing 118 . The interface 114 may include or may be attached to a valve 116 for allowing fluid to enter the actuator 100 but preventing the fluid from exiting the actuator (unless the valve is opened). The flexible tubing 118 may also or alternatively attach to an inflator valve 124 at the inflation device 120 for regulating the supply of inflation fluid at the location of the inflation device 120 .

The flexible tubing 118 may also include an actuator connection interface 122 for releasably connecting to the interface 114 at one end and the inflation device 120 at the other end. By separating the two parts of the actuator connection interface 122 , different inflation devices 120 may be connected to different interfaces 114 and/or actuators 100 .

The inflation fluid may be, for example, air or saline. In the case of air, the inflation device 120 may include a hand-operated bulb or bellows for supplying ambient air. In the case of saline, the inflation device 120 may include a syringe or other appropriate fluid delivery system. Alternatively or in addition, the inflation device 120 may include a compressor or pump for supplying the inflation fluid.

The inflation device 120 may include a fluid supply 126 for supplying an inflation fluid. For example, the fluid supply 126 may be a reservoir for storing compressed air, liquefied or compressed carbon dioxide, liquefied or compressed nitrogen or saline, or may be a vent for supplying ambient air to the flexible tubing 118 .

The inflation device 120 further includes a fluid delivery device 128 , such as a pump or compressor, for supplying inflation fluid from the fluid supply 126 to the actuator 100 through the flexible tubing 118 . The fluid delivery device 128 may be capable of supplying fluid to the actuator 100 or withdrawing the fluid from the actuator 100 . The fluid delivery device 128 may be powered by electricity. To supply the electricity, the inflation device 120 may include a power supply 130 , such as a battery or an interface to an electrical outlet.

The power supply 130 may also supply power to a control device 132 . The control device 132 may allow a user to control the inflation or deflation of the actuator, e.g. through one or more actuation buttons 134 (or alternative devices, such as a switch). The control device 132 may include a controller 136 for sending a control signal to the fluid delivery device 128 to cause the fluid delivery device 128 to supply inflation fluid to, or withdraw inflation fluid from, the actuator 100 .

Actuators/Grippers Having an Adjustable Position

Exemplary embodiments depicted in FIGS. 2A-4C depict examples in which actuators are reconfigured by repositioning the actuators with respect to each other using rails. Although rails (and, more specifically, T-slot rails) are used in the embodiments depicted in these Figures, the present invention is not limited to repositioning actuators using any particular type of guidance mechanism. In addition to T-slots, other types of rail-based systems may be employed, such as a system using a circular metal collar deployed in conjunction with the actuator and fixed in position on a rod via a set-screw. Moreover, non-rail-based systems may also be employed; examples of non-rail based systems are described herein and will also be apparent to one of ordinary skill in the art.

As shown in FIGS. 2A-2C , soft actuators 100 can be mounted to a rail system 202 employing T-slot extrusion so that the position of individual actuators can be rapidly adjusted. FIG. 2A depicts a side-view of a system in which two actuators 100 mounted to a rail system 202 collectively form a robotic gripper or end effector. In this example, the actuators 100 are held to a length of the rail system using an interface 114 (in this case, a plastic clip at the bottom of the actuator 100 ) employing bolts. FIG. 2B depicts a side view of the same system after the actuators 100 have been slid along the rails 202 to decrease the distance between the actuators 100 . For example, the bolts of the interface 114 may be loosened to allow the actuators 100 to slide along the rail 202 . This adjustability allows for the rapid reconfiguration of the end-effector in order to allow for the manipulation of objects of vastly different size with the same device. Note the interfaces 114 shown here also provide a sealed pneumatic inlet for pressurizing and depressurizing the soft actuators (the pneumatic routing is not shown).

This end-effector can be attached, for example, to a robotic arm 206 via a mounting flange 204 on the rail 202 in order to enable the arm to pick and place objects of interest ( FIG. 2C ). The mounting flange 204 on the rail 202 may be configured to mate with a corresponding flange on the robotic arm 206 to secure the end effector system to the robotic arm 206 . A pneumatic passage may be provided through the mounting flange 204 to allow an inflation fluid to pass from the robotic arm 206 through the mounting flange 204 , through the rail 202 and into the actuators 100 .

It should be noted that this style of adjustable gripper is not limited to the use of T-slot extrusion. One of ordinary skill in the art will recognize that any suitable modular rail mounting system may provide similar functionality.

Although FIG. 2C depicts a particular example in which an end effector is deployed on a robotic arm 206 , the present invention is not limited to this application. For example, in some embodiments the actuator 100 may be deployed on a gantry or other mechanism.

It is also noted that, although FIGS. 2A-2C depicts individual actuators 100 that are relocatable, the same principle may be applied to groups of actuators 100 moving with respect to each other. For example, the individual actuators of FIGS. 2A-2C could be replaced with groups of actuators 100 forming gripping mechanisms.

The movement of the actuators 100 along the rail 202 (or other guidance mechanism) may be achieved manually (e.g., using adjustable components that are moved by an operator) or automatically (e.g., using a motor, pneumatic feed, or another device suitable for effecting movement of the actuators 100 ).

The actuators 100 or grippers in this array may be driven in that the position of an actuator 100 or a gripper can be changed via the action of a machine. For example, the actuators 100 may be driven via a motor that drives a screw or belt that is attached to the actuators 100 , or by a pneumatically-actuated piston that is attached to the soft actuator 100 or gripper.

T-slot extrusion can be used to create grippers whose actuators can be reconfigured in one dimension (as shown in FIGS. 2A-2C ), in two dimensions, and in three dimensions. For instance, FIG. 3A depicts a side view of four soft actuators 100 mounted to T- slot extrusions 202 in an “X” pattern, where the actuators 100 are set to a close configuration. FIG. 3B depicts a top view of the grippers shown in FIG. 3A .

In FIG. 3C (side view) and 3 D (top view), the actuators 100 of FIGS. 3A-3B have been reconfigured to be spaced further apart. As will be apparent to one of ordinary skill in the art, the available actuator configurations may be changed by modifying the configuration of the rails 202 on which the actuators 100 are mounted.

Multiple actuators 100 may be arranged in a modular array and reconfigured with respect to each other for different purposes, as shown for example in FIGS. 4A-4C . FIG. 4A depicts an exemplary gripper including two actuators 100 mounted to an interface 114 that is laterally translatable along a rail system 202 . A plurality of such grippers (or individual actuators 100 in place of the gripper) may be deployed together in order to form different dynamic configurations by changing the position of each gripper on the rail 202 .

FIGS. 4B-4C demonstrates the ability of actuators or grippers on actuated rails 202 to change their relative position in order to conform to task specific configurations. This array could be mounted on a robotic platform which allows the array to change its orientation relative to an object to be gripped, or to allow actuators 100 or groups of actuators to be rearranged into different array configurations. For example, a set of four actuators may be deployed in a 2×2 arrangement ( FIG. 4B ), and then dynamically reconfigured into a 1×4 arrangement ( FIG. 4C ). One example of a situation in which such a capability might be useful is in the context of an intermediate warehouse in which goods are received from a bulk distributor and repackaged for shipment to a point of sale or to consumers. The bulk distributor might, for example, provide cases of products arranged into a 4×3 matrix, and the products might be repackaged into smaller 2×2 cases. Using the arrangements shown in FIGS. 4B and 4C , the grippers might initially be arranged into a 1×4 arrangement to retrieve the products from the bulk distributor&#39;s cases, and then could dynamically reconfigure themselves into a 2×2 arrangement to place the products into the smaller 2×2 cases.

Furthermore, the platform may be dynamically reconfigured to optimize its grip configuration depending on the target to be grasped. For instance, if the grippers are intended to grasp flat objects such as books, then pairs of actuators 100 may be deployed parallel to, and facing, each other (in a configuration similar to that depicted in FIG. 7C ). If the grippers then need to grasp a ball, then four actuators 100 may be rearranged into a square configuration facing towards their common center, in order to more effectively grasp the new object (in a configuration similar to that depicted in FIG. 7D ).

In another example, the grippers may maintain the same overall shape, but may change the dimensions of the shape. For instance, the grippers may initially deposit baked goods on a tray, and may then retrieve the baked goods and reconfigure themselves into a more compact formation for packaging. Typically, baked goods must be spread apart on the tray by a reasonable amount, to allow for expansion when baking. However, when the baked goods are packaged for shipping, it is helpful to decrease the amount of space between the goods in order to reduce shipping size and allow more goods to fit into a container. By dynamically reconfiguring the gripper configuration to reduce the amount of space between the grippers, the goods can be retrieved from a baking sheet and then packaged for delivery using a single robotic system.

Actuator Substrates

FIGS. 5A-7F depict examples of actuators mounted to substrates.

As shown in FIGS. 5A-5D , soft actuators can be rapidly rearranged to form new grippers by utilizing a mounting plate with a periodic arr

CLAIMS

Claims ( 1 )

1 . A modular robotic system comprising:

a soft actuator comprising an elastomeric bladder configured to receive an inflation fluid; and a positioning system configured to dynamically adjust an absolute position of the actuator in a Cartesian plane or a position of the actuator relative to another actuator in the Cartesian plane.

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US20190193283A1

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2019-06-27

US20160361821A1

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2016-12-15

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2019-11-19

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2021-07-27

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