Method and device for manipulating an object

• US 8,548,626 B2
• Filed: 08/05/2011
• Issued: 10/01/2013
• Est. Priority Date: 09/03/2009
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Steltz, Erik Edward, Mozeika, Annan Michael, Jones, Christopher Vernon, Corson, Nicholas Roy
• Primary Examiner(s): Dickson, Paul N
• Assistant Examiner(s): GOODEN JR, BARRY J
• Application Number:
  US13/204,299
• Publication Number:
  US 20120038180A1
• Time in Patent Office: 788 Days
• Field of Search: 700/245, 294/86.4, 294/119.3, 294/192, 294/208, 294/213, 294/902, 901/30, 901/40, 901/45, 901/50
• US Class Current: 700/245
• CPC Class Codes: B25J 15/0023 Gripper surfaces directly activated by a fluid flexible fingers B25J15/12
• CPC Class Codes: B66C 1/445 motor actuated
• CPC Class Codes: B66F 19/00 Hoisting, lifting, hauling or pushing, not otherwise provided for

Abstract

A method and device for manipulating an object is provided. In an exemplary embodiment, a gripping device configured to grasp the object includes a housing, a jamming material inside the housing, a first actuator to actuate the jamming material, a first pressure activation device disposed on a first outer portion of the housing and configured to exert a constricting force on the first outer portion of the housing, and a second actuator to actuate the first pressure activation device. After the end effector is pressed against the object, the second actuator actuates the first pressure activation device to exert an inward force on the first outer portion of the housing and the first actuator actuates the jamming material to grasp the object.

Claims

1. A gripping device configured to grasp an object, the gripping device comprising:

a housing comprising;

a substantially round and flexible container; and

a point of attachment on an outer portion of the housing being in a plane that is substantially perpendicular to a line extending from the point of attachment toward a center of the housing;

a jamming material inside the housing;

a first actuator to actuate the jamming material;

a pressure activation device disposed on the outer portion of the housing and configured to exert a constricting force on the outer portion of the housing, the pressure activation device comprising at least one of a Mckibben actuator, a jamming belt, an inflatable biased belt, or a jamming belt and an inflatable toroidal housing; and

a second actuator to actuate the pressure activation device;

wherein, after the gripping device is pressed against the object, the second actuator actuates the pressure activation device to exert the constricting force on the outer portion of the housing and the first actuator actuates the jamming material to grasp the object.

2. A gripping device configured to grasp an object, the gripping device comprising:

a housing comprising;

a substantially round and flexible container; and

a point of attachment on a first outer portion of the housing being in a first plane that is substantially perpendicular to a line extending from the point of attachment toward a center of the housing;

a jamming material inside the housing;

a first actuator to actuate the jamming material;

a first pressure activation device disposed on the first outer portion of the housing and configured to exert a constricting force on the first outer portion of the housing;

a second actuator to actuate the first pressure activation device;

a second pressure activation device disposed on a second outer portion of the housing and configured to exert a constricting force on the second outer portion of the housing; and

a third actuator to actuate the second pressure activation device;

wherein, after the gripping device is pressed against the object, the second actuator actuates the first pressure activation device to exert the constricting force on the first outer portion of the housing and the first actuator actuates the jamming material to grasp the object, and the second outer portion of the housing is in a second plane that is substantially perpendicular to a line extending from the point of attachment toward the center of the housing.

3. The gripping device of claim 2, wherein a distance between the second pressure activation device and the point of attachment is larger than a distance between the first pressure activation device and the point of attachment.

4. An end effector configured to grasp an object, the end effector comprising:

a housing comprising;

a substantially round and flexible container; and

a point of attachment on an outer portion of the housing being in a plane that is substantially perpendicular to a line extending from the point of attachment toward the center of the housing;

a jamming material inside the housing;

a first actuator to actuate the jamming material;

a pressure activation device disposed on the outer portion of the housing and configured to exert a constricting force on the first outer portion of the housing, the pressure activation device comprising at least one of a Mckibben actuator, a jamming belt, an inflatable biased belt, or a jamming belt and an inflatable toroidal housing; and

a second actuator to actuate the pressure activation device;

wherein, after the end effector is pressed against the object, the second actuator actuates the first pressure activation device to exert an inward force on the outer portion of the housing and the first actuator actuates the jamming material to grasp the object.

5. An end effector configured to grasp an object, the end effector comprising:

a housing comprising;

a substantially round and flexible container; and

a point of attachment on a first outer portion of the housing being in a first plane that is substantially perpendicular to a line extending from the point of attachment toward a center of the housing;

a jamming material inside the housing;

a first actuator to actuate the jamming material;

a first pressure activation device disposed on the first outer portion of the housing and configured to exert a constricting force on the first outer portion of the housing; and

a second actuator to actuate the first pressure activation device,

a second pressure activation device disposed on a second outer portion of the housing and configured to exert a constricting force on the second outer portion of the housing; and

a third actuator to actuate the second pressure activation device;

wherein, after the end effector is pressed against the object, the second actuator actuates the first pressure activation device to exert the constricting force on the first outer portion of the housing and the first actuator actuates the jamming material to grasp the object, and the second outer portion of the housing is disposed is in a second plane that is substantially perpendicular to a line extending from the point of attachment toward the center of the housing.

6. The end effector of claim 5, wherein a distance between the second pressure activation device and the point of attachment is larger than a distance between the first pressure activation device and the point of attachment.

7. A method of using a gripping device to grasp an object, the method comprising:

directing the gripping device toward the object, the gripping device comprising;

a housing comprising;

a substantially round and flexible container; and

a point of attachment on an outer portion of the housing being in a plane that is substantially perpendicular to a line extending from the point of attachment toward a center of the housing;

a jamming material inside the housing;

a first actuator to actuate the jamming material;

at least one pressure activation device disposed on the outer portion of the housing and configured to exert a constricting force on the outer portion of the housing, the at least one pressure activation device comprising at least one of a Mckibben actuator, a jamming belt, an inflatable biased belt, or a jamming belt and an inflatable toroidal housing; and

a second actuator to actuate the pressure activation device;

pressing the gripping device onto the object; and

activating the jamming material in the housing by;

activating the at least one pressure activation device to exert the constricting force on the outer portion of the housing using the second actuator; and

actuating the jamming material using the first actuator.

8. The method of claim 7, wherein activating the at least one pressure activation device comprises sequentially activating the first pressure activation device and the second pressure activation device.