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

Abstract

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.

Investigation into the Acoustic Properties of Polylactic Acid Sound-Absorbing Panels Manufactured by 3D Printing Technology: The Influence of Nozzle Diameters and Internal Configurations

“…On further analysis of the experimental data, when only the nozzle diameters of 0.4 mm, 0.6 mm and 0.8 mm were varied and the other factors were kept constant (same material, same sample thickness and same internal configuration), it was concluded that about 80% of the maximum absorption coefficient values were obtained with the 0.4 mm nozzle diameter and 20% of the maximum values were obtained for the 0.6 mm nozzle diameter. Thus, it can be stated that another important aspect regarding the FFF process was the correct choice of the deposition layer height (0.2 mm), which is recommended to not exceed the print nozzle diameter (0.4 mm) in order to obtain good mechanical and acoustic performance [49][50][51]. Figure 5 plots the influence of the sound transmission loss (STL) as a function of the 3D-printed sample.…”

Optimization of Outer Diameter Bernoulli Gripper with Cylindrical Nozzle

“…The influence of the input parameters of jet capture devices on their power and energy characteristics is substantiated in the paper [43]. The authors developed a method of designing a cylindrical nozzle for prototyping Bernoulli gripping devices by the 3D printing method [44] and investigated the influence of 3D printing parameters on the power characteristics of the gripping device. Furthermore, the authors in papers [45] address the pressing matter of reducing energy usage in object manipulation.…”

Finite element modeling of grasping porous materials in robotics cells

“…It is worth noting that BGDs exhibit high dynamic characteristics, enabling contactless manipulation of objects [45,46]. The process of manufacturing and prototyping Bernoulli traps also has an important effect on their technical characteristics, which is explored in paper [51]. Most of the scientific papers [47][48][49][50] are dedicated to the optimization and substantiation of BGD design parameters using various modeling methods.…”