Development non-contact gripper with flowrate-amplification using Coanda ejector

Liu, Hanbang; Li, Xinrong; Ma, Qianli; Feng, Wenqian

doi:10.1016/j.vacuum.2021.110108

Cited by 4 publications

(4 citation statements)

References 18 publications

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“…To avoid displacement, the MO is fixed at the gripper's end face using friction forces caused by the object's contact with the friction elements, which protrude above the end face of housing 1 by h > 0.15 mm. In their article, Liu et al (2021) demonstrated the ability to increase the load capacity of JGDs due to the ejector with a Coanda nozzle installed at the JGD's inlet. The use of JGDs in medicine has become widespread (Trommelen 2011; Ertürk, Samtaş 2019; Ertürk, Erzincanlı 2020) because these grippers can grip flexible objects such as organs and tissues during invasive operations.…”

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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“…Combining multiple effects is a common approach to achieve improved performance in these devices. In the paper [47], the authors observed a significant enhancement in flow rate characteristics by combining an ejector Coanda effect with a Bernoulli gripper using an annular nozzle. Alternatively, in article [48], a two-stage finite element optimization method was utilized to design a flexible gripper, resulting in maximized friction and retention forces in the three-finger gripper.…”

Section: Introductionmentioning

confidence: 99%

Optimization of Outer Diameter Bernoulli Gripper with Cylindrical Nozzle

et al. 2023

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Gripping and manipulating objects using non-contact and low-contact technologies is becoming increasingly necessary in manufacturing. One of the promising contactless gripping technologies is Bernoulli gripping devices for industrial robots. They have many advantages, but when changing the nozzle geometry, it is difficult to find the optimal parameters of the outer diameter of the gripper and its operating parameters. Therefore, the article presents a model for numerical simulation of the dynamics of airflow in the nozzle of the Bernoulli gripping device and in the radial gap between its active surface and the surface of the object of manipulation. Reynolds-averaged Navier–Stokes equations of viscous gas dynamics, SST-model of turbulence, and γ-model of laminar-turbulent transition were used for this purpose. The technical requirements for the design of the nozzle of Bernoulli jet gripping nozzles are determined and variants of their constructive improvement are offered. According to the results of numerical simulation in the Ansys-CFD software environment, the optimal diameter of the Bernoulli gripping device and the influence of the geometric parameters of the nozzle on the nature of the pressure distribution in the radial gap and its lifting force were determined. Determined the optimal parameters of the height of the gap between the object of manipulation and the Bernoulli gripping device using C—Factor, which will allow efficient operation of Bernoulli gripping devices during automated handling operations using industrial robots.

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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%

“…The influence of the parameters of the gripping surface with slots on the possibility of gripping flexible and thin objects is investigated in articles [55,[76][77][78]. 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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Development non-contact gripper with flowrate-amplification using Coanda ejector

Cited by 4 publications

References 18 publications

A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

Optimization of Outer Diameter Bernoulli Gripper with Cylindrical Nozzle

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

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