Robot end effector with dynamic stiffening elements to adapt to object interactions

摘要

Robot end effector for providing conformal object interactions. The end effector has an inner portion or engagement side surface and at least one finger with one or more degrees of freedom. The disturbing conformal pad is on the inner part of at least one finger. Interfering conformal pads are those that are compliant, disperse over the surface of the object, and if contoured, penetrate any deformation (eg, depression) on the surface and with the surface. It has a compliant configuration configured to define a conformal engaging surface that is configured to match and fit. The jamming conformal pad is a rigid configuration in which the jamming conformal pad is rigid or relatively rigid compared to the jamming conformal pad in the compliant configuration and substantially maintains the shape of the conformal engaging surface. Have.