Substantiation of Parameters of Friction Elements of Bernoulli Grippers With a Cylindrical Nozzle

Mykhailyshyn, Roman; Savkiv, Volodymyr; Boyko, I. V.; Prada, Erik; Virgala, Ivan

doi:10.4018/ijmmme.2021040102

Cited by 9 publications

(9 citation statements)

References 28 publications

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“…As the distance between the nozzle end and the object surface decreases, the suction action of the jet becomes predominant in comparison with the reactive force, which reaches a maximum at a distance between the interacting surfaces h = 0.1...0.3 mm. To avoid lateral displacements caused by friction forces in the end plane, the object lifted to the nozzle end is fixed to the base elements protruding above the nozzle end by h > 0.2 mm (friction pads 3) (Mykhailyshyn et al 2021), or using lateral supports. This type of JPGs with deflectors are often used to have food gripped and transported by IRs - Davis et al (2008); Petterson et al (2010); Sam, Buniyamin (2012).…”

Section: Classification Of Jgdsmentioning

confidence: 99%

A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

et al. 2022

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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.

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Section: Classification Of Jgdsmentioning

confidence: 99%

A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

et al. 2022

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“…In [42,[66][67][68][69][70][71][72][73], the authors investigate this question from the point of view of minimizing the energy costs for manipulating objects along different trajectories. Another direction of BGD research is on the substantiation of the parameters of the structural elements and the influence of the parameters of gripping devices on power characteristics [55,56,[74][75][76][77][78][79][80][81][82]]. Brun's articles [74][75][76] substantiate the effect of the BGD parameters on the deformation of the manipulated object at various input pressures.…”

Section: Introductionmentioning

confidence: 99%

“…In reference [79], the influence of the parameters of the friction elements on the power characteristics of BGDs with cylindrical nozzles is discussed. References [56,[80][81][82] present the development and substantiation of medical BGD parameters.…”

Section: Introductionmentioning

confidence: 99%

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

Mykhailyshyn

Xiao

2022

Applied Sciences

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There is a wide variety of gripping devices with various parameters at the present stage of development of robotics. However, the existing literature about the power characteristics of pneumatic gripping devices does not provide any analysis of the different types of input parameters other than supply pressure and flow characteristics, whereas the input parameters completely determine the technical characteristics of the gripping devices of industrial robots. In particular, for pneumatic grippers, the input parameters play a crucial role in their productivity and energy efficiency. This paper fills the gap by providing a study of the impact of such parameters on the power and energy characteristics of Bernoulli ejection grippers for industrial robots, including: the parameters of the compressed air inlet design, the parameters of the fitting for compressed air supply, the diameter of the hose for compressed air supply, and the size of the vacuum zone. First, this paper presents the results of theoretical studies and finite element method for determining the distribution of pressure on the surface of an object of manipulation, which allows one to determine the lifting force of the Bernoulli gripping devices of an industrial robot. It is determined that the horizontal air flow to the capture chamber, compared with that of the vertical, should be used to ensure the maximum possible lifting force. Structures and constriction in fittings, which are used to supply compressed air to the chamber of Bernoulli gripping devices, are considered. Then, the dependencies of the influence of narrowing the fittings on the power characteristics of gripping devices are presented.

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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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“…Проте автори довели ефективність використання даного методу і для інших пневматичних захоплювальних пристроїв [15]. З огляду на важливість переорієнтації були запропоновані декілька варіантів конструкцій захоплювача для безконтактного утримування обєкта маніпулювання [4], та оптимізацію параметрів фрикційних елементів [7]. Такі конструкції дозволяють усунути зіткнення обєкта із захоплювачем при безконтактному маніпулюванні та збільшити розподіл навантаження при збільшенні кількості фрикційних елементів.…”

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