公开(公告)号：US20220314460A1

公开(公告)日：2022-10-06

申请号：US17219509

申请日：2021-03-31

Applicant: Dexterity, Inc.

Inventor： Zhouwen Sun ,  Robert Holmberg ,  Shitij Kumar ,  Jeesu Baek ,  Joseph Li ,  Kishore Ranganath Ramakrishnan ,  Andrew Lovett

IPC: B25J15/06

Abstract: An end effector is disclosed. The end effector includes a first set of one or more suction cups of a first size having a first diameter, and a second set of one or more suction cups of a second size having a second diameter that is smaller than the first diameter. The end effector further includes a first actuation mechanism configured to apply suction to at least a subset of the first set of suction cups independently of actuation of the second set of suction cups and a second actuation mechanism configured to apply suction to at least a subset of the second set of suction cups independently of actuation of the first set of suction cups.