A substrate transfer apparatus includes a body portion having a holding region on a surface thereof corresponding to a substrate. The body portion moves so that the surface thereof approaches the substrate up to at least a first distance. A plurality of vacuum holes are distributed in the holding region and form negative pressure to provide suction force to the substrate disposed at the first distance. At least some of the plurality of vacuum holes are disposed at equal intervals at an edge of the holding region and have the same width. A plurality of air holes are distributed in the holding region and form positive pressure to provide a buoyancy force to the substrate close to the holding region at a second distance smaller than the first distance.

There is disclosed an end effector for a robotic positioner. The end effector has a frame adapted to connect to the robotic positioner, the frame defining a guide. A first gripper member is connected the frame and a second gripper member defines a follower operatively engaged to the guide, an engagement between the follower and the guide constraining the second gripper member to movement in at least one rotational movement about a virtual pivot spaced away from the first gripper member, the second gripper member, the follower and the guide. At least one actuator is connected to the second gripper member for moving the second gripper member toward and away from the first gripper member in the rotational movement.

A gripper for the transportation of an ophthalmic lens comprises: a gripper shaft having a longitudinal shaft axis and a fluid channel extending through the gripper shaft; a connector at the proximal end of the gripper shaft for connecting a flexible supply tube and the proximal end of the gripper shaft; a support movably accommodating the gripper shaft; a spring mounted between the support and the gripper shaft, the spring biasing the gripper shaft distally away from the support; and a gripper head attached to the gripper shaft at a distal end portion thereof, the gripper head having a further fluid channel extending therethrough, the gripper head further having a suction opening which is centrally arranged in a distal end surface of the gripper head, the suction opening being in fluid communication with the fluid channel of the gripper shaft through further fluid channel.

The gripper head is configured to be pivotable about a pivot portion of the gripper head.

Systems and methods for grip-based transport speeds for objects transported at a manufacturing system is provided. A controller can detect an object placed on an end effector of a robot arm. The controller can apply vacuum pressure to secure the object to the end effector via vacuum grip pads. The controller can obtain a vacuum pressure measurement indicating the amount of vacuum pressure between the object and the end effector and determine whether the obtained vacuum pressure measurement satisfies a vacuum pressure criterion. The controller can determine a transport speed setting for transporting the object using the robot arm based on whether the obtained vacuum pressure measurement satisfies the vacuum pressure criterion. The controller can cause the robot arm to move the object according to the transport speed setting.

Systems, methods, and computer-readable media are disclosed for dynamically adjustable suction cups. In one embodiment, an example device may include a backplate, a gear coupled to the backplate and configured to move from a first position to a second position, a first suction cup segment having a first cavity, and a second suction cup segment disposed adjacent to the first suction cup segment, where a first portion of the second suction cup segment is disposed in the first cavity. Movement of the mechanical actuator from the first position to the second position may cause the first portion of the second suction cup segment to slide out of the first cavity, such that a surface area of a suction cup formed by the first suction cup segment and the second suction cup segment increases.

Warehouse automation and methods of handling materials can be used to enhance the safety and efficiencies of warehouse operations. For example, automation systems and methods that make depalletization processes safer and more efficient are described. In some examples, the depalletization systems described herein include multiple work cells/stations and a depalletization robot that traverses the work cells/stations on a rail so the robot can autonomously move between the stations.

An end-effector is disclosed for a programmable motion device. The end effector includes a body that includes a vacuum portion through which a vacuum is applied to an object, and a gripping portion that is adapted to engage the object, the vacuum portion being generally orthogonal to the gripping portion.

A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.

In a joint movement device (100) for selective flexion and extension of a joint (20), a tendon (120) is disposed adjacent to the first and second joint members. A tendon securing device (112) is secured to the second joint member (12), the tendon (120) being secured to the tendon securing device (112). At least one phalange ring (110) is secured to a joint member and includes a tending routing mechanism (113) configured to route the tendon through the phalange ring (110). An actuator (140) is coupled to the tendon (120) and pulls the tendon (120) inwardly to cause the joint (20) to flex. An elastic member (130) is coupled to the phalange ring (110) and tendon securing device (112) and applies an extension force thereto, thereby causing the joint (20) to extend when the actuator (140) releases the tendon (120).

A bioinspired suction device includes a radially symmetrical suction chamber formed from a first elastomer and having a skirt portion with a skirt diameter and a disc margin formed from a flexible flattened ring adhered to a lower surface of the skirt portion. The disc margin is formed from a second elastomer and has a disc diameter that extends beyond the skirt diameter. The second elastomer is a compliant material having a lower hardness and lower tensile strength than the first elastomer. Radial pads may extend from the disc margin, where each pad has elastomeric texture features formed on a pad contact surface.