Pressure-Distribution Methods for Estimating Lifting Force of a Swirl Gripper

Li, Xin; Horie, Mikio; Kagawa, Toshiharu

doi:10.1109/tmech.2013.2256793

Cited by 21 publications

(6 citation statements)

References 15 publications

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“…Imagawa and Hayase [15] introduced a measurementsimulation integration method for a turbulent flow to reduce the calculation consumption and also increase accuracy. Li et al [16] indirectly estimated the suction force of a vacuum gripper (swirling air type) by measuring the film pressure distribution. Nakao et al [17] suggested a measurement integrated simulation method to investigate unsteady flow through an orifice in a pipe.…”

Section: Introductionmentioning

confidence: 99%

Integration of measurement and simulation of film pressure for estimating deformation of a glass sheet on a noncontact air conveyor

Yang¹,

Zhong²,

Wang³

et al. 2020

Mech. Eng. Sci.

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Recently, large and thin glass substrates are transported by air film conveyors to reduce surface damage. On the production line, the glass substrates are desired to be transported flatly on the conveyor to ensure the quality inspection. A method by feedbacking film pressure to the theoretical model is proposed for estimation of the deformation of the glass sheet, and the validity of the method is theoretically and experimentally verified. First, a theoretical model including the flow behavior through a porous-walled gap is established, and the film pressure distribution can be predicted by solving the model. Then, an experimental setup that can simultaneously measure the film pressure and the flatness of the glass sheet is established, and, the validity of the model is verified experimentally. Next, with the pressure points at the grooves as the boundary and the pressure points at the flange area as the feedback, an algorithm is applied to shape the one-dimensional deformation at the centerlines in accordance with a quadratic curve. Furthermore, two-dimensional deformation of the glass sheet can then be estimated by an interpolation operation. Comparisons of the calculated results with the experimental data verify the effectiveness of the estimating method.

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Section: Introductionmentioning

confidence: 99%

Integration of measurement and simulation of film pressure for estimating deformation of a glass sheet on a noncontact air conveyor

Yang¹,

Zhong²,

Wang³

et al. 2020

Mech. Eng. Sci.

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show abstract

“…Another method is to use negative pressure generated based on Bernoulli's theorem, by which pressure drops when the flow is fast. This method based on Bernoulli's theorem is also adopted for robotic grippers (Davis, Gray, & Caldwell, ; Li, Horie, & Kagawa, ). For underwater applications, Teledyne SeaBotix, Inc. sells an ROV with a vortex suction device (LBC – Little Benthic Crawler – Remotely Operated Vehicles (ROVs) – Seabotix, ).…”

Section: Introductionmentioning

confidence: 99%

“…This method based on Bernoulli's theorem is also adopted for robotic grippers (Davis, Gray, & Caldwell, 2008;Li, Horie, & Kagawa, 2014).…”

Section: Introductionmentioning

confidence: 99%

Development of dam inspection robot with negative pressure effect plate

Sakagami

Yumoto²,

Takebayashi

et al. 2019

Journal of Field Robotics

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This paper describes the development of an underwater robot that performs visual inspection while making mechanical contact with a dam surface by a pulling force generated from thrusters with negative pressure effect plates. In general, small and lightweight remotely operated vehicles (ROVs) have low‐power thrusters. Their positioning performance is inferior with respect to external disturbances. Moreover, it is difficult for untrained operators to control the ROV position to check and inspect dams visually. A negative pressure effect plate attached to a thruster produces negative pressure that maintains mechanical contact between the robot and a dam wall surface and ensures stable robot motion on a dam surface to acquire clear continuous images. As described herein, we theoretically investigate the negative pressure effect plate characteristics and experimentally measure the force generated by the pressure difference. Results show that the force of a thruster with the effect plate is five times greater than the nominal thrust force provided by the thruster alone. Based on those results, we designed and developed the underwater robot with the negative pressure effect plates for dam inspection. Moreover, we conducted an experiment in a water tank and a field test at Shorenji Dam, Mie‐prefecture, Japan. The experimentally obtained results indicated that the negative pressure effective plate is effective at generating sufficient force and at realizing stable robot motion on the dam surface. Results demonstrate that the developed robot acquired clear images of the dam surface continuously with no sophisticated operator or controller.

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“…This fluctuation disturbs stable handling of the workpiece. The theoretical approach for indirectly estimating the pressure distribution in the cup was conducted by Li et al [16]. It is not only important but also necessary to develop suppression method of the pressure fluctuation.…”

Section: Introductionmentioning

confidence: 99%

Suppression of Vortex Precession in a Non-Contact Handling Device by a Circular Column

Iio¹,

Hayashi²,

Akahane³

et al. 2016

JFCMV

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Vortex levitation attains non-contact handling by injecting air through a tangential nozzle into a cylindrical cup generating the swirling flow. The precessing of the swirling flow causes pressure fluctuation. This phenomenon becomes apparent as the gap between the cup and workpiece increases, which significantly disturbs the stability of conveyance. In this paper, suppression of pressure fluctuation by a cylindrical column that stabilizes the vortex levitation is described and its mechanism is mentioned. According to the experimental set up, the pressure was measured at the center of the workpiece and the wall of the cup; velocity field under the work piece was visualized by PIV. The result suggested that the larger diameter column denoted the effect on suppression of the fluctuation because the precessing of the swirling flow became stable. On the other hand, variation of the column thickness had insignificant effect on suppressing the fluctuation, but sucking force became weakened since the swirling velocity decreased.

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Pressure-Distribution Methods for Estimating Lifting Force of a Swirl Gripper

Cited by 21 publications

References 15 publications

Integration of measurement and simulation of film pressure for estimating deformation of a glass sheet on a noncontact air conveyor

Integration of measurement and simulation of film pressure for estimating deformation of a glass sheet on a noncontact air conveyor

Development of dam inspection robot with negative pressure effect plate

Suppression of Vortex Precession in a Non-Contact Handling Device by a Circular Column

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