Patent Publication Number: US-2020298421-A1

Title: High speed manipulation of non-uniform objects

Description:
RELATED APPLICATION DATA 
     This application is a non-provisional of and claims the benefit under 35 U.S.C. § 119(e) of U.S. Provisional Patent Application No. 62/548,817 filed Aug. 22, 2017, the disclosure of which is incorporated by reference herein in its entirety. 
    
    
     BACKGROUND 
     The field of the present invention relates to a robotic system and robotic end-effector, and more particularly to one capable of high speed manipulation of objects with variable or undefined shape, structure, or size. 
     In the realm of robotic pick-and-place applications there has been a central focus on performing well-defined, repeatable tasks. This paradigm is fundamentally predictable and specific. Classical computation is adept at processing a precise list of instructions. As a result, technologies have been developed for a narrow range of applications allowing for the interaction with the real world. One such subset is robotic end-effectors for manipulation of objects. An example may be found in food handling applications. Although small variations may exist, the rules for any given operation tend to be very precise and the target object is well-defined. Pick-and-place grasping can be found in numerous industries, but commodity-based grasping is typically designed to leave no trace of handling. Applications exist where destructive methods of grasping can be utilized, one such field is waste handling. 
     Increases in computation power has led to the expansion of deep learning algorithms. In this paradigm the computer program is much more abstract and the inputs are no longer discrete, such as image recognition. Advancements in this field have numerous industrial applications. One such industry is recycling, the sorting of recycled materials. The nature of recycling is unpredictable with materials varying largely by region and have extreme variations even within that subset. The mechanical component of the robotic system is becoming a limiting factor of these robotic systems. The present inventors have recognized that similar to the shift in software, mechanical technologies need be developed to interact with objects of unpredictable size, shape, orientation, and composition. 
     SUMMARY 
     The embodiments described herein are directed to material handling systems, or more specifically, robotic arm sorting systems and methods of sorting, and in one embodiment to a robotic arm sorting system with grasping mechanism/end-effector design capable of reliably manipulating/grasping non-uniform objects. Even objects of indeterminate size, shape, orientation, and surface condition can be grasped and relocated in a given space. This grasping functionality need not be dependent to the specific grasping point chosen by the grasping mechanism. The system may be suitable when miscellaneous objects of indeterminate/varied shape and size are located in the vicinity of the target object and the working environment is not controlled for cleanliness, and/or where the preservation of the object&#39;s condition is irrelevant. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a schematic of a vacuum sorting system according to an embodiment, and including a front elevation view of a suction cup embodiment positioned to manipulate a target object. 
         FIG. 2  is a front isometric view of an example robotic arm and vacuum head section of the sorting system of  FIG. 1  according to an embodiment. 
         FIG. 3  is a top isometric view of the system of  FIG. 2 . 
         FIG. 4  is an enlarged isometric view of the vacuum head section of the sorting system of  FIGS. 2-3 . 
         FIG. 5  is an isometric view of a suction cup according to an embodiment. 
         FIG. 6  is a front elevation view of the suction cup of  FIG. 5 . 
         FIG. 7  is a cross-sectional view of the suction cup of  FIG. 6  taken along line  7 - 7 . 
         FIG. 8  is a bottom plan view of the suction cup of  FIGS. 5-7 . 
         FIG. 9  is an isometric view of a suction cup according to another embodiment. 
         FIG. 10  is a front elevation view of the suction cup of  FIG. 9 . 
         FIG. 11  is a cross-sectional view of the suction cup of  FIG. 10  taken along line  11 - 11 . 
         FIG. 12  is a bottom plan view of the suction cup of  FIGS. 9-11 . 
         FIGS. 13-14  are diagrammatic views of an alternate object grasping head according to an embodiment using a piercing mechanism. 
         FIG. 15  is a diagrammatic view of an alternate object grasping head according to an embodiment using a combination suction head and piercing mechanism. 
         FIG. 16  is a diagrammatic front view of an alternate object grasping head including a mechanical grasping prong, the prongs being in the open, non-grasping position. 
         FIG. 17  is a diagrammatic front view of the grasping head of  FIG. 16  with the prongs being in the closed, grasping position. 
         FIG. 18  is a diagrammatic top view of the grasping head of  FIG. 17 . 
         FIG. 19  is a diagrammatic front view of an alternate object grasping head including a combination suction head with mechanical grasping prongs of  FIGS. 16-18 . 
         FIGS. 20A, 20B, 20C  illustrate another alternate system for manipulating objects. 
         FIGS. 21A, 21B, 21C  illustrate another alternate system for manipulating objects. 
         FIG. 22A  is a front elevation view of an alternate suction cup having a suction cup lip formed with radial sections fitted with pressurized veins, the radial sections shown in a first position. 
         FIG. 22B  is a front elevation view of the suction cup of  FIG. 22A  with the radial sections shown in a second position. 
     
    
    
     DETAILED DESCRIPTION 
     Certain embodiments will now be described with reference to the drawings. To facilitate description, any element numeral representing an element in one figure will represent the same element in any other figure. It is noted that embodiments of the grabbing/end-effector mechanisms will be described with reference to a particular robotic arm system, but it will be appreciated that details of the described mechanisms may be applied in other any robotic arm systems or the like. 
       FIG. 1  is a schematic of a pneumatically-powered vacuum sorting system  10  according to a first embodiment with  FIGS. 2-3  being isometric views of the system of  FIG. 1  integrated into a robotic arm system. The system  10  is shown as in  FIGS. 2-3  to comprise a robotic arm system including a controller  70 , an item detection device/system  71  (e.g., a vision system or means for detecting) to see/detect the materials being transferred along the conveyor  5 , and artificial intelligence system to think and identify target objects to be sorted. The robotic arm system comprises a plurality of pairs of robotic arms  74 ,  76  and  72 ,  73 , and  78 ,  79 . Via the robotic arms  74 ,  76  and  72 ,  73 , and  78 ,  79 , the controller  70  is operative to move and position the suction head  50  in three dimensions to seek out and engage a selected target object, such as a plastic bottle  120  from a stream of objects being conveyed through a target zone via a conveyor  5 . 
     The system  10  may be described as a vacuum pick-up apparatus that includes a specially designed grasping mechanism/end effector, shown as a flexible suction cup unit  100  disposed on the distal end of a tube or pipe section  60  at the bottom of the suction head  50 . The suction cup unit  100  is specially designed to provide a high vacuum air flow capacity as will be described further below. 
     The system  10  is provided with high air flow vacuum pump system (comprising the means to applying a high subsonic vacuum air flow). To meet a desired high vacuum air flow, the system  10  may be constructed with a dual vacuum pump system comprised of a first vacuum pump  12  and a second vacuum pump  32  disposed in parallel. The first vacuum pump  12  is connected via a first flexible hose  18  drawing air through the flexible hose  18  and through a filter  16  and exhausting out through exhaust  14 . The flexible hose  18  is connected via a hose barb  19  to a rigid hose  20  which in turn is connected via a second hose barb  21  to a second flexible hose section  22 . The second flexible hose section  22  is then connected to vacuum connector/port  54  of the wye connector  52 . 
     Similarly, on the other side, the second vacuum pump  32  is connected via a second flexible hose  38  drawing air through the second flexible hose  38  and through a filter  36  and exhausting out through exhaust  34 . The second flexible hose  38  is connected via a hose barb  39  to a rigid hose  40  which in turn is connected via a second hose barb  41  to a second flexible hose section  42 . The second flexible hose section  42  is then connected to vacuum connector/port  56  of the wye connector  52 . 
     The wye connector  52  is a multi-port connector/manifold which is shown in  FIG. 4  as having the two vacuum line connectors/ports  54 ,  56  and a blower connector/port  57 . The connectors  54 ,  56  and  57  (collectively comprising a multi-port distribution manifold) all provide for an open fluid connection for air flow through suction head  50  to the lower pipe section  60 . The suction cup unit  100  is connected to the end of the lower pipe section  60  via a threaded fitting or connector  102  attached to the top section of the suction cup unit  100 . The blower connector  57  is connected via a flexible hose  58  to a pressure source  59  such as an air blower or compressed air source. The pressure source  59 , flexible hose  58  and blower connector/port  57  are optional components, but may provide for enhanced releasing force for the object being grabbed. 
     Alternately, the vacuum air flow may be provided by a single vacuum pump, three (or more) vacuum pumps, or another suitable vacuum source or sources. It is noted that a vacuum pump may comprise any suitable device that draws a vacuum, such as a positive displacement vacuum pump, liquid ring vacuum pump, momentum transfer vacuum pump, regenerative vacuum pump, a venturi vacuum pump, or other. 
     Following is an example method of grasping items, comprising the steps of:
         detecting, via a vision recognition system, a target object to be grasped from a stream of objects being moved on a conveyor.   using the robotic arms  72 - 79  of the system  10  to position the suction head  50  (and the suction cup unit  100 ) over or onto an object  120  identified by the vision recognition system to be sorted.   activating the vacuum pressure (vacuum pumps  12 ,  32 ) to apply a vacuum lifting force into the suction cup unit  100  for grasping the object  120 .   using the robotic arms  72 - 79  to lift the object  120  and move it over a bin or desired sorting location.   discontinuing the vacuum pressure (and thus deactivating the lifting force) being applied and dropping/depositing the object  120  into the bin or other desired sorting location.   optionally applying positive pressure (by the pressure source  59 ) through the suction cup unit  100  to assist in releasing the object  120 . The positive pressure provides a positive releasing force on the object  120 . When the vacuum force is being applied by the vacuum pumps  12 ,  32 , the pressure source  59  is disconnected/isolated, to allow the vacuum grasping force to be applied through the suction cup unit  100 .       

     As described below, in one embodiment, the vacuum pump system is operable for applying a high vacuum flow rate of at least 60 scfm (standard cubic feet per minute) through the suction cup unit  100  of the suction head  50  when the pick-up apparatus is free from grasping a target object (i.e., no item is being grasped by the suction cup unit  100 ). 
       FIGS. 5-8  illustrate details of an example suction cup unit  100  according to a first embodiment. The suction cup unit  100  is comprised of a flexible cup section  105  and a connector (inlet section)  102 . The connector  102  includes internal female threads  103  (NPT) for connecting to a male-threaded end of the lower pipe section  60  (of  FIGS. 1-4 ). A flexible suction cup  105  is attached to the bottom portion of the connector  102 . The example flexible cup section  105  is formed with multiple bellows sections, with the example in  FIGS. 5-8  having a first bellow  105   a  and a second bellow  105   b  and a suction cup lower lip  105   c . Alternatively the flexible suction cup section  105  may be formed with a different number of bellows such as a single bellow, or three or four bellows, or more bellows. 
     A cup screen element  110  is optionally provided and disposed within the flexible cup section  105 , as shown in  FIG. 7  disposed in the second bellow  105   b . The screen  110  may be alternatively disposed in another suitable location. 
     The screen  110 , which may be replaceable, may be integrated into the flexible cup section  105 . The screen  110  is sized for the screening of materials of a desired size that are small enough or pliable enough to be suctioned into an inner chamber  107  of the flexible cup section  105 , but are of such a size (or type, e.g., pliable) that would obstruct the vacuum system. The design of the screen  110  (e.g., the size of the hexagonal openings) is such as to maintain adequate (high) vacuum air flow and not become clogged by dirt and debris while promoting the full grasping functionality. Likewise, miscellaneous smaller items of certain size that are not targeted, but are in the target area, are screened by the screen  110  such that the flexible cup section  105  and any subsequent vacuum hoses  18 ,  38  do not become clogged with foreign objects, while particles of a given small size (that will not obstruct the vacuum system) are allowed to pass through the screen opening without clogging the screen  110  itself. The screen is sized to have openings large enough to avoid disrupting the high vacuum flow rate but small enough to screen undesirably large (or alternately pliable) items from passing through the suction head. The optional pressure source  59  may optionally assist in removing miscellaneous items trapped by the screen  110 , blowing those items back out of the suction cup unit  100 . 
     The optional foam lip unit  112  (of  FIGS. 5-8 ) may be constructed of a suitable flexible (e.g., polymer) material such as open cell foam (e.g., polyurethane open cell foam). The foam lip unit  112  is shown formed as a cylindrical, donut-shaped form having (as shown in  FIG. 8 ) an internal opening of a diameter F and an outer diameter G. The foam lip unit  112  is attached to the bottom of the flexible cup section  105  (i.e., to the lower cup lip  105   c ) via an adhesive or other suitable attachment mechanism. The optional foam lip adhesive (or other attachment mechanism) may be selected to allow for the foam lip to be removably attachable (i.e., replaceable), thereby being replaced easily without damaging or replacing the cup section. 
     The dual vacuum pumps  12 ,  32  connected to respective vacuum connectors  54 ,  56  combine to provide for a desired high vacuum air flow through lower pipe section  60  and the inner chamber  107  of the flexible cup section  105 . 
       FIGS. 9-12  illustrate an alternative suction cup unit  200  according to a second embodiment comprised of a flexible cup section  205  and an inlet/connector  202 . The connector  202  includes internal female threads  203  (NPT) for connecting to a corresponding male threaded end of the pipe section  60  (of  FIGS. 1-4 ). The flexible cup section  205  attaches to the bottom portion of the connector  202 . The flexible cup section  205  is similar to the prior embodiment of the flexible cup section  105  and includes two bellows  205   a  and  205   b  and a lower lip  205   c . Unlike the prior embodiment, suction cup unit  200  is illustrated without the optional foam lip element whereby contact with the object  120  (shown as a plastic bottle) is made directly by the lower lip  205   c . A high flow screen  210  is shown integrated within an internal chamber  207  of the lower bellow  205   b  the screen operating as described in the previous embodiment. 
     The flexible cup sections  105 ,  205  may be made of a suitable flexible material such as a flexible polymer material, e.g. polyurethane, or combinations thereof. 
     The design of the suction cup units may be directed to vacuum handling, that is, to create a low pressure to generate lift and holding force. In an example scenario with the suction cup positioned above the object, this lifting and holding force is accomplished by creating contact with the object and evacuating the air from above the contact area of the object. In order to achieve the vacuum, more air should be evacuated through the suction cup than is leaked through the area of contact. The design of certain embodiments described herein may function by optimizing these two aspects. 
     First, sealing the object and minimizing leaks into the vacuum chamber is fundamentally achieved by promoting maximum compliance of the suction cup to the surface of the object. The suction cup may be configured to be pressed against the target item without requirement of preserving the condition of the item. A multi-bellow design may allow the flexible cup section to articulate and align to non-orthogonal surfaces. In suction cup unit  200 , the soft lip  205   c  that forms the base of suction cup unit  200  is flexible so that it can conform to ridges on the object  120 . Alternately, the optional foam unit  112  (shown attached to the bottom of the suction cup unit  100  of  FIGS. 5-8 ) may be used at the point of contact to close off the smaller air gaps resulting from more subtle and complex variations in the surface of the object  120  (e.g., a plastic bottle) being grasped. Similarly, without the optional foam unit  112 , the soft lip  105   c  (of the suction cup unit  100 ) is flexible so that it can conform to ridges on the object  120 . 
     Second, the bore of the suction cup unit  100 , 200  is optimized to allow adequate (high) vacuum air flow. This high vacuum air flow capacity of the suction cup is provided to generate sufficient lift force when targeting objects with highly irregular surfaces, even porous surfaces or those containing hole(s) can be grasped. The high vacuum air flow also increases the rate of vacuum creation, which increases the speed in which an object is grasped. 
     The relative size of the flow opening area (determined by diameter A,A 1  inlet flow opening  106 , 206 ) versus the area of the cup opening (determined by diameter D,D 1  of flexible cup section internal opening  107 , 207 ) may be designed to maximize the lifting force for the application of grasping items of different/indeterminate size and shape. Suction/lifting force is a function of two variables: area and pressure. If the suction cup opening area (determined by diameter D,D 1 ) is too large, air may not be evacuated fast enough to create the pressure differential needed to produce adequate lifting force. If the suction cup lip area is too small, a large enough lifting force might not be applied for larger/heavier object no matter what the pressure differential. As described herein, the suction cup opening area refers to the area determined by the inner diameter D,D 1  of the flexible cup section  105 , 205 . 
     The suction cups employing smaller openings attempt to be as efficient as possible (i.e., lowest power consumption) and employ smaller flow openings (on the order of ½ inch or smaller) according to a lower flow rate (about 10 scfm, or at most 40 scfm) (scfm=standard cubic feet per minute) and thus can only efficiently/consistently pick up smooth surface objects. Further, the flow rate through the smaller cup opening is limited, that is, the smaller ½ inch opening suction cup cannot achieve a higher flow rate, no matter the vacuum pressure applied, due to limitations allowed by air speed from subsonic to supersonic as choked flow ensues. 
     In contrast to other systems employing smaller openings and lower flow rates, certain embodiments described herein may provide a higher desired flow rate, e.g., a high subsonic vacuum air flow rate of at least 60 scfm, or in a range of 60 scfm to 120 scfm, during free flow when the pick-up apparatus is free from grasping a target object (i.e., no item is being grasped by the suction cup  100 , 200 ) which is achievable through the larger flow opening area (determined by A,A 1 ) and with a ratio of inlet flow opening area to flexible cup section opening area (ND; A 1 /D 1 ) of at least 0.46, or between 0.36 and 1.44, or between 0.46 and 1.15. Further, in one example, the flow opening area is such that the minimum flow rate (60 scfm) does not produce a ratio of volumetric flow rate to area which exceeds Mach 0.2, under standard conditions for temperature and pressure. 
     As noted, in order to create a lower pressure, more air should be evacuated than is leaked into the cavity of the suction cup. Supplemental methods/systems for closing off the gaps responsible for air leakage are envisioned.  FIGS. 22A-B  illustrate an embodiment of such a method/system comprising an alternate suction cup unit  700  is comprised of a flexible cup section  705  and a connector (inlet section)  702  similar to the prior described embodiments. The suction cup unit  700  includes a suction cup lip  710  that is formed with a plurality of radial segments  720  that are fitted with veins  715  that, when filled with pressurized air, cause elongation of a corrugated top surface while the structure of the lower surface resists elongation. As a result, there is a moment force (bending moment) that will control concavity of the flexible lip section and force the lip of the suction cup to conform more closely to the irregular surfaces of the target object. 
       FIG. 22A  illustrates the veins  715  in the non-pressurized state whereby the radial segments  720  are arranged in a first position with a relatively flat concavity.  FIG. 22B  illustrates the veins in a pressurized state applying the bending moment to move the radial segments into second position of a greater concavity. This design may be operable to further close off air gaps and increase the lifting force generated by a given vacuum source, allowing better suction cup performance on a wider range of irregularly-shaped target objects. 
     Table A below provides vacuum pump data for an example vacuum pump suitable for use in the present system, the pump being a model piClassic available from Piab USA, Inc. of Hingham, Mass. 
     
       
         
           
               
             
               
                 TABLE A 
               
             
            
               
                   
               
               
                 Vacuum Pump 
               
            
           
           
               
               
               
            
               
                   
                 Vac Pump 
                 piClassic 
               
               
                   
                 Cartridges 
                 si32-3 × 6 
               
               
                   
                 V-Flow, inHG 
                 Vacuum Flow SCFM 
               
               
                   
               
               
                   
                 0  
                 61.00 
               
               
                   
                 3  
                 37.90 
               
               
                   
                 6  
                 31.40 
               
               
                   
                 9  
                 21.60 
               
               
                   
                 12  
                 11.40 
               
               
                   
                 15  
                  7.63 
               
               
                   
                 22.1 
                 0   
               
               
                   
               
            
           
         
       
     
     The vacuum pump may provide a relatively high vacuum level such as at least 16 inHG at zero air flow. To further accommodate the higher air flow rate, in an embodiment, the supply lines  18 - 22 ,  38 - 42  and  60  also have large (internal) diameter. 
     As a supplement (i.e., in conjunction with) or stand-alone, the grasping mechanism may comprise a mechanical device that pierces target objects to control and manipulate them. One such application of this design includes three primary features; a pointed flute/spike, an object contactor, and a ridged work surface.  FIGS. 13-14  are diagrammatic views of an alternate object grasping mechanism according to an embodiment using a piercing mechanism and part stop (object contactor). As shown in  FIG. 13 , a target object  320 , shown as for example a plastic bottle, is pinned between a weighted part stop  310  and a conveyor  315  (or optionally ridged work surface). In this state, movement (e.g., axial rotation) of the object  320  is constrained allowing a flute/spike  302  to penetrate the object  320 . The flute  302  embeds in such a way that little or no material is removed from the object  320  and once inserted frictional forces allow manipulation of the object  320 . 
     In one embodiment, the flute  302  includes a proximal end  304  attached to a drive/support mechanism of a robotic arm (as in a prior embodiment), a pointed distal end  308  for piercing the object  320 , and a knurled or threaded end section  306  extending from the center to the pointed distal end  308 . While the object  320  is pinned against the work surface  315 , the flute  302  may be inserted into the object  320 , the pointed distal end  308  piercing the wall of the object. The end section  306  may optionally comprise a spiral thread or threaded knurl section, and the flute  302  may then be axially rotated (in a first direction) during insertion into the object  320 . Once inserted, the end section  306  provides a friction connection enabling the object to be lifted off the work surface  315  (and held against the part stop  310 ) and manipulated to a desired position for ejection. To eject or deposit the object  320 , as shown in  FIG. 14 , the flute  302  is retracted into the part stop  310  whereby the object  320  falls by gravity into a sorting bin or other location. Optionally, the flute  302  may be counter-rotated (axially rotated in a second/opposite direction) during retraction in the embodiment where the flute  302  includes a spiral (e.g., a high pitch helix thread) or threaded knurl.  FIG. 14  shows the process for releasing the object, where the part stop  310  applies a force to the object  320  and the (threaded) flute  302  reverses rotation and draws out of the object, thereby releasing the impaled object  320 . 
       FIG. 15  is a diagrammatic view of an alternate grasping mechanism  400  of a combination mechanical piercing mechanism (or impaling device)  402  (similar to the piercing mechanism  302  as in  FIGS. 13-14 ) and (high flow) suction cup  410  (similar to the suction cup  100  as in  FIGS. 5-8  or the suction cup unit  200  as in  FIGS. 9-12 ).  FIG. 15  shows the piercing mechanism  402  paired with a high flow suction cup  410 , in this embodiment, the piercing mechanism (shown as a pierced spike)  404  includes a proximate end section  404 , a knurled or spiral flute insertion section  406  and a pointed distal end  408 . The pierced spike  404  supplements the holding force of the vacuum applied by the suction cup  410  and adds shear resistance (via the knurled/spiral flute insertion section  406 ) to the object  320  which may allow for higher acceleration and faster transport of the object  320  from the conveyor  315 . 
       FIGS. 16-18  illustrate a system of manipulating an object or group of objects with the use of a finger-like/arm mechanism  500  actuating/pivoting in swinging manner to pinch, pierce and/or cradle the object. The arm mechanism  500  includes three arm units  520 ,  530 ,  540  arranged/spaced at 120° around the cup mechanism  510 . The first arm unit  520  includes a first arm section  522  and a second arm section  524 , a first elbow/hinge  526  for allowing articulation/pivoting between the first arm section  522  and the support plate  519 , and a second elbow  528  (optionally a hinge allowing articulation/pivoting) connecting the first arm section  522  and the second arm section  524 . The second arm section  524  is shown having a pointed distal end  525  for allowing a point or piercing contact with the object. The second arm unit  530  includes a first arm section  532  and a second arm section  534 , a first elbow/hinge  536  for allowing articulation/pivoting between the first arm section  532  and the support plate  519 , and a second elbow  538  (optionally a hinge for allowing articulation/pivoting) connecting the first arm section  532  and the second arm section  534 . The second arm section  534  is shown having a pointed distal end  535  for allowing a point or piercing contact with the object. The third arm unit  540  includes a first arm section  542  and a second arm section  544 , a first elbow/hinge  546  for allowing articulation/pivoting between the first arm section  542  and the support plate  519 , and a second elbow  548  (optionally a hinge for allowing articulation/pivoting) connecting the first arm section  542  and the second arm section  544 . The second arm section  544  is shown having a pointed distal end  545  for allowing a point or piercing contact with the object. The arm units  520 ,  530 ,  540  are arranged and separated at 120° from each other so as to grasp the object in a suitable pinching motion. Releasing the object is achieved by forcing/moving the arms back to the open position. Grasping and handling of the object may be done without regard for the preservation of the target object. 
       FIG. 19  depicts a combination system  500 A including both the arm mechanism  500  (of  FIGS. 16-18 ) paired with a high flow vacuum cup mechanism  510  with an internal screen  514  (such as the cup mechanisms described in certain prior embodiments). 
       FIGS. 20A-C  illustrate a mechanism  600  for relocating or manipulating objects (such as target object  615 ) in a given space by means of impact, flipping, or nudging the target object, or group of objects being moved along a conveyor  605 . This object relocation is achieved without the need for directly grasping the object.  FIGS. 20A-C  show one such embodiment operating via a precisely directed high-speed impact of a moving/impacting element  610  onto the target object  615 , thus generating sufficient kinetic energy to displace the target object from its original position to a new desired location. A similar method is envisioned as a second application, by contacting the object at a synchronous speed and accelerating in such a manner to flip the target object to a new location. 
       FIGS. 21A-C  illustrate another embodiment for manipulating objects comprising a system/method for nudging a moving target object  665  off its current trajectory (being moved along via a conveyor  655 ), resulting in a two dimensional displacement of the object  665 . This nudging may be achieved using a stationary or relatively slow-moving rigid body  660  to deflect the moving target object  665  off its current trajectory, relocating it in space. This methodology may be applied to the object  665  more than once, or until the desired final position is satisfied. This process of multiple, slight (incremental) deflections may provide a cumulative effect of segregating desired materials from their original co-mingled stream of miscellaneous objects. 
     Other embodiments are envisioned. Although the description above contains certain specific details, these details should not be construed as limiting the scope of the invention, but as merely providing illustrations of some embodiments/examples. It should be understood that subject matter disclosed in one portion herein can be combined with the subject matter of one or more of other portions herein as long as such combinations are not mutually exclusive or inoperable. 
     The terms and descriptions used herein are set forth by way of illustration only and not meant as limitations. It will be obvious to those having skill in the art that many changes may be made to the details of the above-described embodiments without departing from the underlying principles of the inventions.