Exemplary embodiments provide enhancements for soft robotic actuators. In some embodiments, angular adjustment systems are provided for varying an angle between an actuator and the hub, or between two actuators. The angular adjustment system may also be used to vary a relative distance or spacing between actuators. According to further embodiments, rigidizing layers are provided for reinforcing one or more portions of an actuator at one or more locations of relatively high strain. According to further embodiments, force amplification structures are provided for increasing an amount of force applied by an actuator to a target. The force amplification structures may serve to shorten the length of the actuator that is subject to bending upon inflation. According to still further embodiments, gripping pads are provided for customizing an actuator's gripping profile to better conform to the surfaces of items to be gripped.

A method for picking polybagged articles includes targeting the polybagged article, placing a multistage gripper adjacent the polybagged article, tenting, pressing on, or suspending the polybagged article from the tenting tool, and gathering the polybagged article with a perimeter gripper.

An end-effector for installation of an emblem assembly is provided. The end-effector includes a support frame, a first splitter, and a second splitter. The first splitter and the second splitter are connected to the support frame. The pneumatically actuated grippers include: a first gripper connected to the first splitter and configured to grab at least a portion of the emblem assembly; and a second gripper connected to the second splitter and configured to peel off one or more layers of the emblem assembly. The roller is connected to the support frame and configured to wet out an adhesive layer of the emblem assembly.

A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body.

Disclosed is a traction robot, a conveyance system and a method for controlling a traction robot. The traction robot includes a main body, and further includes a control assembly and a rotating arm. The rotating arm is rotationally assembled on the main body. The rotating arm comprises a first rotating arm and a second rotating arm. The first rotating arm and the second rotating arm are both provided with a clamping part for clamping a towed article on one side facing the towed article, and expansion members are both provided between the clamping part and the rotating arm. The control assembly drives fluid input into or discharge from the expansion member to control expansion or retraction of the expansion member, so as to control the clamping part to clamp or release the towed article.

An end effector system is disclosed for a robotic system that includes a primary acquisition system that includes a primary end effector, and a secondary retention system that substantially surrounds at least a portion of the primary acquisition system, wherein at least a portion of the primary acquisition system may be drawn up within at least a portion of the secondary retention system such that the primary end effector system may be used to select an object from a plurality of objects, and the secondary retention system may be used to secure the object for rapid transport to an output destination.

A loading robot hand includes a first member, a second member, and a drive unit. The second member can hold an article between the first member and the second member. The drive unit moves the second member in a direction toward and away from the first member. The drive unit includes a moving base, a fluid cylinder, a pressure regulator, and a controller. The moving base is slidably movable by driving a drive source. The fluid cylinder is attached to the moving base. The pressure regulator can change operating pressure of the fluid cylinder. The controller controls the pressure regulator. A direction of expansion and contraction of the fluid cylinder is parallel to a direction of slide movement of the moving base. The second member is attached to a portion of the fluid cylinder that is movable relative to the moving base.

According to one embodiment, a gripping tool includes a gripper. The gripper is flexible. A granular material is provided in an interior of the gripper. The gripper is configured to grip a workpiece by being in close contact with the workpiece in a state in which an outer perimeter of the gripper is held, and by the interior of the gripper being depressurized.

An end-effector of a programmable motion device is disclosed. The end-effector includes a body that provides an open interior, the open interior being coupled to a vacuum source, and the body including a contact surface for contacting an object to be grasped by the end effector. The contact surface is at least partially defining an aperture, and the body includes a flexible portion that permits at least a portion of the contact surface to be drawn at least partially into the open interior of the body when a flow of air drawn by the vacuum source through the aperture is reduced due to the aperture being at least partially blocked.

A hub assembly for coupling different grasper assemblies including a soft actuator in various configurations to a mechanical robotic components are described. Further described are soft actuators having various reinforcement. Further described are and soft actuators having electroadhesive pads for improved grip, and/or embedded electromagnets for interacting with complementary surfaces on the object being gripped. Still further described are soft actuators having reinforcement mechanisms for reducing or eliminating bowing in a strain limiting layer, or for reinforcing accordion troughs in the soft actuator body.