A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

Abstract

Based on the literature review, the article presents the analysis of approaches to classifying Gripping Devices (GDs) of Industrial Robots (IRs) and substantiates the need for systematising Pneumatic GDs (PGDs). The authors propose a classification of well-known PGDs, in which the holding force of the Manipulated Object (MO) is formed under the action of gas-dynamic effects. A general classification of PGDs with features common to all PGD subtypes is proposed: PGD type; contact type; object base type; object centring type; specialisation type; working range; availability of additional devices; the number of grippers; type of control; type of attachment to the robot. Each feature of the general PGD classification, which affects PGD characteristics, is analysed, and a usage example is given. The advantages of each feature included in the general PGD classification are also considered. For a more detailed classification, PGDs are divided into the following types: Vacuum GDs (VGDs), Jet GDs (JGDs), Combined PGDs (CPGDs). For VGD, the main distinguishing features are highlighted, which are the vacuum creation method, effect/actuator, stepwise nozzle, suction cup type, suction material type. The main distinguishing features of JGDs include using a jet of compressed air, the shape of nozzle elements, the number of nozzle elements, the direction of gas flows, type of surface of the MO. The main distinguishing features of CPGD include the type of combination and function performed. The main features are given for each classification, and the advantages/disadvantages of the most typical representatives of GDs are described. The authors identify the main development directions for GDs at the present stage of robotisation of production processes, medicine, military and space technology, etc. Based on the analysis and systematisation of literature data, the authors define the main promising areas of research that will be actively developed soon: optimisation of grippers’ design, flexible grippers, additive manufacturing (3D-printing) when creating grippers, collaborative grippers, modular grippers, universal grippers, grippers based on new materials, new effects in grippers, bionic and medical grippers, simulation and rendering of the gripping process.

Optimization of Vacuum System Energy Consumption in an Industrial Environment

“…The multi-stage model is more complex and more invasive but remains 15% to 50% more efficient (same speed/response time for less power consumption). Therefore, it is important to use a multi-stage ejector whenever possible (Mykhailyshyn et al, 2022). Ejector technology for vacuum handling of sealed parts was introduced to the market as a replacement for electric vacuum pumps, primarily for reasons of ease of use and product reliability, as well as ease of adjustment of the power supplied to the pump during its use.…”

Three-Dimensional Printing of Cylindrical Nozzle Elements of Bernoulli Gripping Devices for Industrial Robots

“…One promising type of pneumatic gripper is the jet gripper [56][57][58][59][60][61][62][63][64][65][66][67][68][69][70][71]. Jet grippers have completely different characteristics than vacuum grips due to the effect of raising the force that occurs when the air jet flows around the object of manipulation of the developed nozzle elements [47].…”

“…Jet grippers have completely different characteristics than vacuum grips due to the effect of raising the force that occurs when the air jet flows around the object of manipulation of the developed nozzle elements [47]. The advantages of jet gripping devices include the high accuracy of basing objects [52][53][54]; the gripping of flexible objects [56][57][58], brittle objects [62,64] and objects heated to high temperatures; good dynamic characteristics [59,61]; design simplicity [60]; and durability. Since these grippers have a high air flow rate, scientists pay considerable attention to optimizing the motion parameters of gripping systems and their dynamics using jet grippers [72][73][74][75][76][77][78][79][80][81][82][83][84][85].…”

Gripping Device for Textile Materials

“…В основному ці проблеми зв'язані із зміщенням центру мас гнучкого об'єкта маніпулювання при поступовому піднятті. В залежності від типу пневматичного захоплювального пристрою [16] та типу контакту який використовується (Рис. 2) в цьому захоплювачі будуть виникати різні проблеми.…”

“…2. Пневматичні захоплювачі із різними типами контакту [16] Практично в усіх випадках виникає проблема із розгерметизацією присоски в не залежності яким чином утворюється розрідження. При зміщенні центру мас гнучкий об'єкта маніпулювання деформується на краю захоплювача.…”