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

Savkiv, Volodymyr; Mykhailyshyn, Roman; Duchoň, František; Mikhalishin, Mykhailo

doi:10.1515/jee-2017-0087

Cited by 17 publications

(10 citation statements)

References 5 publications

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“…However, JGDs are very costly due to their design features. Therefore, Savkiv et al (2017aSavkiv et al ( , 2017bSavkiv et al ( , 2017cSavkiv et al ( , 2018aSavkiv et al ( , 2018b, Mykhailyshyn et al (2017Mykhailyshyn et al ( , 2018aMykhailyshyn et al ( , 2018b, propose having JGDs oriented by an IR during transport operations. They proposed a method for optimising the JGD orientation with 3 frictional elements on a straight trajectory (Savkiv et al 2017a(Savkiv et al , 2017b(Savkiv et al , 2017c) and arc trajectory (Savkiv et al 2018a(Savkiv et al , 2018b.…”

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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“…One of the main areas of research of Bernoulli gripping devices (BGD) is on the substantiation of the parameters of object manipulation using industrial robots [42,[57][58][59][60][61][62][63][64][65][66][67][68][69][70][71][72][73].…”

Section: Introductionmentioning

confidence: 99%

“…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]].…”

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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“…Gasdynamic analysis of the BGD interaction with the surface of flat objects with displacement of the center of mass carried out by Savkiv et al (2018a) and Maruschak et al (2019). Also the papers by Savkiv et al (2019bSavkiv et al ( , 2017bSavkiv et al ( , 2020a; Mykhailyshyn et al (2019) deals with the topical issue of reducing energy consumption for transportation of industrial objects. The energy efficiency of the process of OM with the use of the orientation optimization method while gripping with the help of different methods has been studied.…”

Section: Introductionmentioning

confidence: 99%

Gripping Devices of Industrial Robots for Manipulating Offset Dish Antenna Billets and Controlling Their Shape

et al. 2021

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Invention proposes an adaptive gripping device of an industrial robot, which combines functions of capturing different-shape manipulation objects with control of deviations from the shape of these objects. The device is a T-shaped frame with three Bernoulli grips pivotally mounted thereon and a pneumatic sensor. Analytical dependencies are presented for determination of design parameters of adaptive gripping device and calculation of required lifting force of each of Bernoulli Gripping Device (BGD). Formula is derived for determining its position of pneumatic sensor on frame of gripping devices. In the ANSYS-CFX software environment, numerical simulation of airflow dynamics in the gap between the cooperating BGD surfaces and the offset mirror antenna plate blank. The simulation was based on the Reynolds-Averaged Navier–Stokes (RANS) equations of viscous gas dynamics, the Shear Stress Transport (SST) model of turbulence, and the y model of laminar–turbulent transition. As a result of the simulation, the effect of the curvature radius of the surface of the plates of offset mirror antennas on the BGD power characteristics was determined.

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

Cited by 17 publications

References 5 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

Gripping Devices of Industrial Robots for Manipulating Offset Dish Antenna Billets and Controlling Their Shape

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