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

Savkiv, Volodymyr; Mykhailyshyn, Roman; Maruschak, Pavlo; Kyrylovych, Valerii; Duchoň, František; Chovanec, Ľuboš

doi:10.3846/transport.2021.14622

Cited by 19 publications

(11 citation statements)

References 29 publications

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“…The most crucial feature of JGDs is the method of using a compressed air jet, by which 4 groups of JGDs can be distinguished (Figure 26): »» "nozzle with a developed end surface"; »» ejection; »» vortex; »» support. JGD "nozzle with a developed surface of the end face" with a nozzle axis perpendicular to the gripping plane is designed for loading parts weighing up to 1 kg and having a pronounced flat surface -Erzincanli, Sharp (1997); Armengol et al (2008); Kamensky et al (2019); Li, Kagawa (2014); Savkiv et al (2018aSavkiv et al ( , 2018bSavkiv et al ( , 2019aSavkiv et al ( , 2019bSavkiv et al ( , 2020aSavkiv et al ( , 2020bSavkiv et al ( , 2020cSavkiv et al ( , 2021; Maruschak et al (2019); Shi, Li (2016, 2018. The jet that flows from nozzle 1 towards body 2, which is alienated from the nozzle, acts on it by the forces of viscous friction created by the flow that adheres to the body surface and the reactive repulsive force.…”

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%

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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“…Then approximate by a curve (using Bezier, B-Splines and NURBS). Other authors translate the phenomenon by a description of an object gripper of different shapes as well as the functioning of the gripper jaws [7]. Another method of describing objects of complex shapes using a set of 3D points has been developed in order to position and orient these complex points [8].…”

Section: Introductionmentioning

confidence: 99%

Analysis Randon Causes Repeatability Errors Inducted by Friction at Joints in Industrial Robots

2022

IJE

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T he present study was carried out to investigate and analyze the positionning repeatability introduced by friction variations based on stochastic ellipsoids. A mixed friction model has been developed with improved properties compared to existing standard models. The contact is presented as a multitude of micro contacts whose nature can be of two types: lubricated and solid. T his model is experimentally tested on a reciprocating tribometer under extreme friction conditions, with sliding speed varying from 0.1 to 3 m/s and load modified from 40N to 150N to discuss the effect of speed, the effect of nominal contact pressure and the effect of sliding distance on friction parameters. The results showed how this model can be represented as a sum of functions of the relevant states, which are linear and nonlinear in the friction parameters. Thus, these results were used to evaluate the covariance matrix in order to locate the different ranges of errors which have an impact on the repeatability of position.

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

Cited by 19 publications

References 29 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

Analysis Randon Causes Repeatability Errors Inducted by Friction at Joints in Industrial Robots

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