Effect of chamber diameter of vortex gripper on maximum suction force and flow field

Wang, Ching; Zhao, Jiyun; Li, Xin

doi:10.1177/1687814019837401

Cited by 8 publications

(5 citation statements)

References 17 publications

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“…A measuring apparatus was designed and constructed to accurately and easily measure the vortex gripper's suction force and subsequently plotted suction forcevortex gripperworkpiece distance (F-h) curves for various nozzle diameters and supply conditions. In addition, to assess the overall performance of the vortex gripper, the authors designed and implemented another measuring apparatus for investigation of the pressure distribution across the workpiece surface, which can be considered as a smooth plane (Zhao and Li, 2016;Wang et al, 2019).…”

Section: Experimental Methodsmentioning

confidence: 99%

“…As the vortex flow inside the chamber is a threedimensional flow, which is extremely complex, it is difficult to describe it with a precise mathematical model. Li et al once assumed that the circumferential velocity in the chamber is proportional to the radius, resulting in a simple quadratic parabolic model (Li et al, 2008;Wang et al, 2019). In this work, the authors will refer to this simplified model.…”

Section: Theoretical Analysis Of the Distribution Of Pressure And Circumferential Velocitymentioning

confidence: 99%

“…Finally, in recent work, the authors proposed three performance indices for evaluating a vortex gripper's performance: maximum force, suspension region and suspension stiffness (Zhao and Li, 2016). The effect of chamber diameter of vortex gripper on maximum suction force and flow field was also discussed (Wang et al, 2019). These previous research studies provide collective insight into the performance and flow phenomena of a vortex gripper, which may indirectly enable the optimization of vortex gripper designs.…”

Section: Introductionmentioning

confidence: 99%

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Experimental investigation on nozzle diameter of vortex gripper

Zhao¹,

Li²

2021

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Purpose Vortex grippers use tangential nozzles to form vortex flow and are able to grip a workpiece without any physical contact, thus avoiding any unintentional workpiece damage. This study aims to use experimental and theoretical methods to investigate the effects of nozzle diameter on the performance. Design/methodology/approach First, various suction force-distance curves were developed to analyze the effects of nozzle diameter on the maximum suction force. This study determines the tangential velocity distribution on the workpiece surface by substituting the experimental pressure distribution data into simplified Navier-Stokes equations and then used these equations to analyze the effects on the flow field. Subsequent theoretical analysis of the distribution of pressure and circumferential velocity further validated the experimental results. Next, by rearranging these relationships, the study considered the effects of nozzle diameter on the inherent vortex gripper characteristics. In addition, this study developed various suction force-energy consumption curves to analyze the effects of nozzle diameter. Findings The results of this study indicated that the vortex gripper’s circumferential velocity and maximum suction force decrease with increasing nozzle diameter. Nozzle diameter did not significantly affect the inherent frequency of the vortex gripper-workpiece inertial system or the corresponding suspension stability of the workpiece. However, an increase in nozzle diameter did effectively increase the vortex gripper’s suspension region. Finally, as the nozzle diameter increased, the energy required to achieve the same maximum suction force decreased. Originality/value This study’s findings can enable optimization of nozzle design in emerging vortex gripper designs and facilitate informed selection among existing vortex grippers.

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Section: Experimental Methodsmentioning

confidence: 99%

Section: Theoretical Analysis Of the Distribution Of Pressure And Circumferential Velocitymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Experimental investigation on nozzle diameter of vortex gripper

Zhao¹,

Li²

2021

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“…Vortex JGDs have a much longer working range during the gripping and holding of MO -Li et al (2008; Morimoto et al (2010Morimoto et al ( , 2011; Wu et al (2012Wu et al ( , 2013; Zheng et al (2013); Blazhnov (2014); Xin et al (2016); Kim, Lee (2015); Zhao, Li (2016, 2021a, 2021b; Wang et al (2019); Zhao et al (2019); Chandran et al (2019); Konishcheva et al (2020). Figure 26 shows the principle of operation of the vortex JGD manufactured by SMC Corporation (2021b).…”

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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“…The vortex gripper exerts an adsorption force on the manipulation object through the vortex airflow (Li et al, 2018). The studies on structural improvement design (Zhao and Li, 2016) and gripper diameter influence on lifting force and flow field (Wang et al, 2019) are presented. The applications include handling objects such as flat sheets (Kim and Lee, 2015) or rough surface objects .…”

Section: Introductionmentioning

confidence: 99%

Design and tests of a non-contact Bernoulli gripper for rough-surfaced and fragile objects gripping

Liu

Wang

Fang

et al. 2020

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Purpose Varied shapes and sizes of different products with irregular rough surface and fragile properties give a challenge to traditional contact gripping. Single Bernoulli grippers are not suited to handle fragile objects as the impact of center negative pressure force could result in large deformation and stress which damage the materials, and they are also have some limitations for gripping objects with different large and small shapes. Thus, this paper aims to design a non-contact gripper for soft, rough-surfaced and fragile objects gripping with multi Bernoulli heads, which have optimal structures and parameters. Design/methodology/approach The compressed air is ejected into four Bernoulli heads through radial and long flow channels, then passes through four strip-shaped narrow gaps after fully developing in the annular cavity to provide negative pressure. Based on the mathematic model and the computational model, the key structural parameters affecting the gripping performance are selected, and parameters optimization of the gripper is performed by computational fluid dynamics simulation analysis and performance evaluation. The orthogonal method is used and L16 orthogonal array is selected for experimental design and optimization. The characteristics of the designed gripper are tested from the aspects of pressure distribution and lifting force. Findings From the applications in gripping different objects, the designed non-contact gripper can grip varied shapes and sizes of soft, rough-surfaced, fragile and sliced objects with little effect of torque. Originality/value In this paper, a non-contact gripper is designed for handling soft, rough-surfaced and fragile objects based on the Bernoulli principle. A systematic approach, which consists of modeling, simulation, optimization and measurement is provided for the non-contact gripper design and tests.

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Effect of chamber diameter of vortex gripper on maximum suction force and flow field

Cited by 8 publications

References 17 publications

Experimental investigation on nozzle diameter of vortex gripper

Experimental investigation on nozzle diameter of vortex gripper

A Systematic Review on Pneumatic Gripping Devices for Industrial Robots

Design and tests of a non-contact Bernoulli gripper for rough-surfaced and fragile objects gripping

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