Theoretical and Experimental Study of Factors Affecting the Suction Force of a Bernoulli Gripper

Li, Xin; Kagawa, Toshiharu

doi:10.1061/(asce)em.1943-7889.0000774

Cited by 48 publications

(25 citation statements)

References 16 publications

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“…This enhancing of the inertial effect is reflected in the increase in the absolute value of the negative pressure in the small-radius region, while the enhancing of the viscous effect is reflected in the increase in the absolute value of the positive pressure in the large-radius region. However, the enhanced amplitude of the viscous effect is larger than that of the inertial effect [4]. Therefore, as a whole, the reduction in the gap height reduces the suction force.…”

Section: Theoretical Modelingmentioning

confidence: 97%

“…Based on the above-mentioned studies, Li and Kagawa theoretically separated the inertial effect (i.e., the deceleration of the air flow) and the viscous effect, and compared their effects on the suction force. Meanwhile, they provided considerable supporting data on the pressure distribution and force [4]. These efforts produced an F-h curve, representing the relationship between the suction force and the gap height, which is convex rather than monotonic, as shown in Fig.…”

Section: Theoretical Modelingmentioning

confidence: 99%

“…(4)-(7) are introduced into Eq. (3), then an ordinary differential equation describing the pressure distribution, which was also used by Li and Kagawa [4], can be obtained:…”

Section: Theoretical Modelingmentioning

confidence: 99%

“…Giesen et al and Brun and Melkote used Bernoulli grippers to suck and carry flat workpieces [1][2][3], e.g., solar panels. Furthermore, Li and Kagawa built a device based on a Bernoulli gripper that could suck a silicon wafer without actually touching it [4]. In addition, the most important difference between a Bernoulli gripper and a traditional rubber vacuum cup is that the Bernoulli gripper continues to exhaust outwards while generating a negative pressure, and this exhaust flow prevents the outside air from flowing into the negative-pressure region within the inner perimeter of the disk.…”

Section: Introductionmentioning

confidence: 98%

See 3 more Smart Citations

Optimization of outer diameter of Bernoulli gripper

Shi

2016

Experimental Thermal and Fluid Science

Self Cite

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Section: Theoretical Modelingmentioning

confidence: 97%

Section: Theoretical Modelingmentioning

confidence: 99%

“…(4)-(7) are introduced into Eq. (3), then an ordinary differential equation describing the pressure distribution, which was also used by Li and Kagawa [4], can be obtained:…”

Section: Theoretical Modelingmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 98%

See 2 more Smart Citations

Optimization of outer diameter of Bernoulli gripper

Shi

2016

Experimental Thermal and Fluid Science

Self Cite

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“…Objects of manipulation are gripped by the device of the industrial robot and are transported from one position into another. In Bernoulli gripping devices [1][2][3][4][5][6] the lifting force is created on the basis of the aerodynamic effect of attraction appearing due to the use of compressed air. The reliability of functioning of such devices significantly depends on the compressed air expenses to preserve the balance of the object of manipulation as to the gripping device while performing the manipulative functions by the industrial robot.…”

Section: Introductionmentioning

confidence: 99%

Energy efficiency analysis of the manipulation process by the industrial objects with the use of Bernoulli gripping devices

Savkiv

Mykhailyshyn

Duchoň

et al. 2017

Journal of Electrical Engineering

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The article deals with the topical issue of reducing energy consumption for transportation of industrial objects. The energy efficiency of the process of objects manipulation with the use of the orientation optimization method while gripping with the help of different methods has been studied. The analysis of the influence of the constituent parts of inertial forces, that affect the object of manipulation, on the necessary force characteristics and energy consumption of Bernoulli gripping device has been proposed. The economic efficiency of the use of the optimal orientation of Bernoulli gripping device while transporting the object of manipulation in comparison to the transportation without re-orientation has been proved.

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Novel full‐region model of inherent orifice aerostatic bearings considering air flow in orifice and clearance

Zhang

Wang

et al. 2022

Lubrication Science

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The performance of inherent orifice‐restricted aerostatic bearings (IORABs) is directly determined by the coupling of air flow in the orifice and clearance. This paper presents a novel full‐region model to analyse the performance of IORABs. The air flowing in the orifice is treated to be adiabatic. The air flow in the pressure depression region of the clearance, which is the key factor influencing the bearing performance, including inertial and viscous terms, is modelled. The Reynolds equation is used to simulate the air flow in the laminar flow region of the clearance. By using this model, the pressure distribution, including the pressure depression characteristics, could be accurately predicted and achieved substantial agreement with the experimental results. The predicted load capacity is accorded well with the published experimental data without relying on the discharge coefficients. The airflow characteristics in the orifice are crucial in determining the bearing performance and directly influenced by the orifice inner surface shape (OISS). Therefore, the pressure distribution and the static characteristics of the bearings with coupling different OISS are also systematically analysed by using this model. Narrowing and widening OISS influence the pressure depression region and the pressure value of the turning point to directly influence the static characteristics of the bearings. The full‐region model and the results are significantly for guiding the precisely calculating and designing the IORABs.

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Theoretical and Experimental Study of Factors Affecting the Suction Force of a Bernoulli Gripper

Cited by 48 publications

References 16 publications

Optimization of outer diameter of Bernoulli gripper

Optimization of outer diameter of Bernoulli gripper

Energy efficiency analysis of the manipulation process by the industrial objects with the use of Bernoulli gripping devices

Novel full‐region model of inherent orifice aerostatic bearings considering air flow in orifice and clearance

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