Orientation Modeling of Bernoulli Gripper Device with Off-Centered Masses of the Manipulating Object

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

“…While transportation of the object of manipulation with optimization of BGD orientation this methodology will be used, Fig. 5, [10] In Section 1 of the trajectory, the orientation of the gripping device will not change. In Section 2 of the trajectory, the orientation of the gripping device will change from horizontal into optimal one which corresponds to the parameters of the movement in Section 3 (equal accelerated movement of the GD).…”

“…Data for the model check has been received with the help of RobotStudio (ABB) software [11]. For the theoretical research of the massive and overall parameters of the OM for the necessary attractive force, the orientation modeling method has been used, [10]. During the process of the OM transportation without using the orientation optimization model of the GD, its load-lifting capacity should be maximal which corresponds to the most insusceptible variant, and can be estimated with the help of the formula, [10] …”

“…2, that is by reducing consumption of the compressed air. Optimal orientation (α) is defined by the following transcendental equation, [10] …”

“…That is why the issue of energy efficiency of the process of manipulation with the use of optimal orientation while gripping by means of different methods has arisen. In papers [9][10] the model of optimal orientation of the gripping device while transporting the object of manipulation along the rectilinear trajectory has been suggested as well as the model for defining the optimal orientation of the gripping device while manipulating the objects with off-centered masses as to the axis of the gripping device.…”

Design of an adaptive finger with encompassing grasp capability for parallel grippers

“…Industrial Validation: The author was making an effort to get the industry to try and adapt the invented adaptive finger; by writing to companies and speak to companies at conferences, as the patent had been filed for the two years [50]. The adaptive finger was getting attention and interest; thus, the patent was getting extended.…”