Influence of Inlet Parameters on Power Characteristics of Bernoulli Gripping Devices for Industrial Robots

Mykhailyshyn, Roman; Xiao, Jing

doi:10.3390/app12147074

Cited by 8 publications

(9 citation statements)

References 76 publications

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“…The displacement occurs in the direction from which the air is supplied. The influence of the direction of the compressed air inlet is discussed in the paper [40]. For rigid objects, a slight increase in a vacuum on one side of the gripper has minimal impact on its grasping stability.…”

Section: Resultsmentioning

confidence: 99%

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Finite element modeling of grasping porous materials in robotics cells

Mykhailyshyn,

Fey,

Xiao

2023

Robotica

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Handling and manipulating flexible porous objects is one of the main challenges in robotics for household and industrial tasks. Improving the design of grippers for flexible objects of manipulation is an important stage in the development of this topic. This article proposes a method of modeling a gripper for porous objects using the finite element method. It identifies the main parameters of the model that will affect the grasping force and the permeability of porous objects. The power characteristics of the obtained gripper model for different supply pressures, with varying porosity of the manipulated objects, are determined. The obtained characteristics are then used to find the correspondence of channel length for three textile materials with different permeable properties. An experimental study of the lifting force is conducted, and a comparison is made with the obtained modeling data for the presented samples. Additionally, using the obtained simulation data, an analysis of the pressure distribution on the surface of the porous object of manipulation is performed. As a result, it is found that the gripping device must use a design with elements to stabilize the distribution of pressure in its chamber, which will increase the stability of the gripping process.

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Section: Resultsmentioning

confidence: 99%

“…Numerous papers [40][41][42][43][44][45][46][47][48][49][50] have been dedicated to the modeling of Bernoulli gripper. The article [43] provides a substantiation of the shape and parameters of the gripper's friction elements to ensure maximum lifting force.…”

Section: Introductionmentioning

confidence: 99%

Finite element modeling of grasping porous materials in robotics cells

Mykhailyshyn,

Fey,

Xiao

2023

Robotica

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“…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].…”

Section: Figurementioning

confidence: 99%

“…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].…”

Section: Figurementioning

confidence: 99%

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

et al. 2022

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The application of additive technologies, namely, fused deposition modeling, is a new reality for prototyping gripping devices of industrial robots. However, during 3D printing of holes and nozzle elements, difficulties arise with reducing their diameter. Therefore, this article conducts a comprehensive study of the Bernoulli gripping device prototype with a cylindrical nozzle, manufactured by fused deposition modeling 3D printing. The three main reasons for reducing the diameter of the gripper nozzle after printing were due to the poor-quality model, excessive extrusion of plastic in the middle of the arc printing path, and linear shrinkage of printing material after cooling. The proposed methodology consisted of determining the three coefficients that allowed the determination of the diameter of the designed nozzle. The use of air pressure distributions on the surface of the manipulation object, and lifting forces of gripping devices with different 3D printing layer heights were found. It was experimentally determined that as the height of the printing layer increased, the lifting force decreased. This was due to the formation of swirls due to the increased roughness of the grip surface. It was proven that as the height between the manipulation object and the grip increased, the effect of surface roughness on the lifting force decreased, resulting in an increase in the lifting force. Determination of the rational operating parameters of gripping devices manufactured by 3D printing from the point of view of maximum lifting force, were determined.

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“…Це пов'язано із тим, що спрогнозувати вплив параметрів об'єкта на деформацію, фрикційні властивості та силу утримування в такому випадку дуже важко [1]. Тому зараз активно проводяться дослідження із структурування методів маніпулювання [2], розробки захоплювальних пристроїв [3][4][5][6][7], методів захоплення [8] та нових концепцій процесу маніпулювання [9][10][11] гнучкими об'єктами.…”

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