Research of Energy Efficiency of Manipulation of Dimensional Objects with the Use of Pneumatic Gripping Devices

Mykhailyshyn, Roman; Savkiv, Volodymyr; Duchoň, František; Trembach, Rostyslav; Diahovchenko, Illia

doi:10.1109/ukrcon.2019.8879957

Cited by 9 publications

(5 citation statements)

References 30 publications

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“…The advantages of jet gripping devices include the high accuracy of basing objects [52][53][54]; the gripping of flexible objects [56][57][58], brittle objects [62,64] and objects heated to high temperatures; good dynamic characteristics [59,61]; design simplicity [60]; and durability. Since these grippers have a high air flow rate, scientists pay considerable attention to optimizing the motion parameters of gripping systems and their dynamics using jet grippers [72][73][74][75][76][77][78][79][80][81][82][83][84][85]. Often, jet grips with a cylindrical and annular nozzle are called Bernoulli gripper devices (BGD), since the description of power characteristics occurs using Bernoulli's law.…”

Section: Figurementioning

confidence: 99%

Three-Dimensional Printing of Cylindrical Nozzle Elements of Bernoulli Gripping Devices for Industrial Robots

et al. 2022

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The application of additive technologies, namely, fused deposition modeling, is a new reality for prototyping gripping devices of industrial robots. However, during 3D printing of holes and nozzle elements, difficulties arise with reducing their diameter. Therefore, this article conducts a comprehensive study of the Bernoulli gripping device prototype with a cylindrical nozzle, manufactured by fused deposition modeling 3D printing. The three main reasons for reducing the diameter of the gripper nozzle after printing were due to the poor-quality model, excessive extrusion of plastic in the middle of the arc printing path, and linear shrinkage of printing material after cooling. The proposed methodology consisted of determining the three coefficients that allowed the determination of the diameter of the designed nozzle. The use of air pressure distributions on the surface of the manipulation object, and lifting forces of gripping devices with different 3D printing layer heights were found. It was experimentally determined that as the height of the printing layer increased, the lifting force decreased. This was due to the formation of swirls due to the increased roughness of the grip surface. It was proven that as the height between the manipulation object and the grip increased, the effect of surface roughness on the lifting force decreased, resulting in an increase in the lifting force. Determination of the rational operating parameters of gripping devices manufactured by 3D printing from the point of view of maximum lifting force, were determined.

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Section: Figurementioning

confidence: 99%

Three-Dimensional Printing of Cylindrical Nozzle Elements of Bernoulli 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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Research of Energy Efficiency of Manipulation of Dimensional Objects with the Use of Pneumatic Gripping Devices

Cited by 9 publications

References 30 publications

Three-Dimensional Printing of Cylindrical Nozzle Elements of Bernoulli Gripping Devices for Industrial Robots

Three-Dimensional Printing of Cylindrical Nozzle Elements of Bernoulli 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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