Vacuum gripper without central compressed air supply

Schaffrath, Robert; Jager, E. E. R.; Winkler, Georg; Doant, Jan; Todtermuschke, Marcel

doi:10.1016/j.procir.2020.05.207

Cited by 7 publications

(6 citation statements)

References 4 publications

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“…In variant 2, on the contrary, the membrane can help reduce the drive size; however, the manufacture of such structure is more expensive. A more detailed analysis of structures 2, 3, 4, 8 is presented by Schaffrath et al (2021).…”

Section: Classification Of Vgdsmentioning

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 Vgdsmentioning

confidence: 99%

A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

et al. 2022

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“…The wrong choice in input parameters for capturing systems can critically influence the power characteristics and energy efficiency of the whole system. In addition, devices that use the power effect of a jet of air emanating from a shielded nozzle [38][39][40][41][42][43][44][45][46] are found in the automated production systems of a wide variety of applications. The nature of the interaction of the air jet with the load depends on many parameters, and the positive effects of such an interaction can be leveraged for various tasks, such as holding loads due to aerodynamic attraction and the contactless transportation of loads on an air cushion.…”

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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“…Here, also the surface roughness was considered for determining the resulting leakage. For the control of passive vacuum grippers, the leakage is implicitly considered in a closed-loop control system in [19]. In [20] the leakage is used in order to design the most adequate gripping system for bin picking of various objects.…”

Section: Introductionmentioning

confidence: 99%

Grasp Point Optimization and Leakage-Compliant Dimensioning of Energy-Efficient Vacuum-Based Gripping Systems

et al. 2021

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Vacuum-based handling, used in many applications and industries, offers great flexibility and fast handling processes. However, due to significant energy conversion losses from electrical energy to the useable suction flow, vacuum-based handling is highly energy-inefficient. In preliminary work, we showed that our grasp optimization method offers the potential to save at least 50% of energy by a targeted placement of individual suction cups on the part to be handled. By considering the leakage between gripper and object, this paper aims to extend the grasp optimization method by predicting the effective compressed air consumption depending on object surface roughness, gripper diameter and gripper count. Through balancing of the target pressure difference and the leakage tolerance in combination with the gripper count and gripper diameter, significant reductions of the compressed air, use and therefore the overall energy consumption, can be achieved. With knowledge about the gripper-specific leakage behavior, in the future it will be straightforward for system integrators to minimize the need for oversizing due to process-related uncertainties and therefore to provide application-specific and energy-optimized handling solutions to their customers.

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Vacuum gripper without central compressed air supply

Cited by 7 publications

References 4 publications

A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

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

Grasp Point Optimization and Leakage-Compliant Dimensioning of Energy-Efficient Vacuum-Based Gripping Systems

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