Analytical modelling of suction cups used for window-cleaning robots

Liu, Jihong; Tanaka, Kyoko; Bao, Limin; Yamaura, Itsuo

doi:10.1016/j.vacuum.2005.10.002

Cited by 42 publications

(21 citation statements)

References 8 publications

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“…In their mathematical model, the authors formulated the contact phenomena using Lagrange constraints, but did not provide simulations of their model. Some years later, Liu et al presented an analytical modelling of suction cups for window-cleaning robots [5], in which friction was omitted by considering that the window surface was always perfectly wet. Through a quantitative study of the attachment and detachment of a passive suction cup, Ge et al modeled the forces acting on the cup considering only the vertical ones for the sake of simplicity [6].…”

Section: A Suction Cup Modelingmentioning

confidence: 99%

An Interactive Physically-based Model for Active Suction Phenomenon Simulation

Betnardin

Duriez

Marchal

2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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While suction cups are widely used in Robotics, the literature is underdeveloped when it comes to the modelling and simulation of the suction phenomenon. In this paper, we present a novel physically-based approach to simulate the behavior of active suction cups. Our model relies on a novel formulation which assumes the pressure exerted on a suction cup during active control is based on constraint resolution. Our algorithmic implementation uses a classification process to handle the contacts during the suction phenomenon of the suction cup on a surface. Then, we formulate a convenient way for coupling the pressure constraint with the multiple contact constraints. We propose an evaluation of our approach through a comparison with real data, showing the ability of our model to reproduce the behavior of suction cups. Our approach paves the way for improving the design as well as the control of robotic actuators based on suction cups such as vaccum grippers.

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Section: A Suction Cup Modelingmentioning

confidence: 99%

An Interactive Physically-based Model for Active Suction Phenomenon Simulation

Betnardin

Duriez

Marchal

2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…The active area of the suction cup [15] is proposed for further analyzing the principles of the vibrating suction methods, which produces the negative air pressure by vibrating suction cups. As shown in Fig.13, the attachment area of the silicone rubber suction cup will change when the cup is compressed.…”

Section: A Active Area Of the Suction Cupmentioning

confidence: 99%

Analysis of two vibrating suction methods

Wang

et al. 2009

2008 IEEE International Conference on Robotics and Biomimetics

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-In this paper, a novel vibrating method based on the principle of vibrating suction method is presented, which is called pulse vibrating method. To discuss this method in depth and evaluate its performance, simplified mathematical model based on some assumptions for both the previous sin vibrating method and the pulse vibrating method are built, and a new experimental platform is developed as well to verify the validity of the mathematical models. The experiments indicate that the experiments meet the mathematical model with only small deviation caused by some unknown factors. The experimental results also show that the pulse vibrating method is much better than the sin vibrating method for higher negative air pressure and less power consumption. At the end of this paper, conclusion is given and future work is proposed to further analyze the principle of the vibrating suction method.

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“…A simple alternative to such reusable adhesives is cratered surfaces [2,3,6,21]. Unlike suction cups, usually formed by thin-walled structures [16,17] In the next section, we will show that this approach, based on the assumption of small deformations, is insufficient for characterizing the suction effect, as it requires one to consider large deformations. Also, Akerboom et al observed enhanced adhesion for PDMS with 100 nm diameter craters and found that the pull-off force depends on the crater geometry and preload [21].…”

Section: Introductionmentioning

confidence: 99%

Suction effects in cratered surfaces

Qiao

Wang

Jeong

et al. 2017

J. R. Soc. Interface.

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It has been shown experimentally that cratered surfaces may have better adhesion properties than flat ones. However, the suction effect produced by the craters, which may be chiefly responsible for the improved adhesion, has not been properly modelled. This paper combines experimental, numerical simulation and analytical approaches towards developing a framework for quantifying the suction effect produced by isolated craters and cratered surfaces. The modelling approach emphasizes the essential role of large elastic deformation, while the airflow dynamics, microscopic mechanisms, like surface tension and air permeation, and rate-dependence are neglected. This approach is validated using experimental data for isolated hemi-spherical craters. The modelling approach is further applied to spherical cap (not necessarily hemi-spherical) craters with the objective of identifying optimal geometric and material properties, as well as the minimum preload necessary for attaining the maximum suction force. It is determined that stiff polymers with deep craters are capable of producing large suction forces. For soft materials, central to biomedical applications, large suction forces can be attained by reinforcing deep craters with thin stiff layers. Parametric optimization studies of reinforced craters reveal that some of them perform beyond common expectations. However, those high-performance reinforced craters are prone to surface instabilities, and therefore the practical use of such craters may be problematic.

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Analytical modelling of suction cups used for window-cleaning robots

Cited by 42 publications

References 8 publications

An Interactive Physically-based Model for Active Suction Phenomenon Simulation

An Interactive Physically-based Model for Active Suction Phenomenon Simulation

Analysis of two vibrating suction methods

Suction effects in cratered surfaces

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