Topology optimization in designing of anthropomorphic gripper for a robot

Stupin, Semen A.; Ogorodnikova, O. M.

doi:10.1063/5.0032696

Cited by 5 publications

(2 citation statements)

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“…Alternatively, in article [48], a two-stage finite element optimization method was utilized to design a flexible gripper, resulting in maximized friction and retention forces in the three-finger gripper. Topological optimization, aimed at minimizing mass [49][50][51][52][53][54] and developing cutting-edge micro-grippers [55], is also a crucial stage in the optimization process. To enhance interaction with the manipulated object, optimization of the active surface of the bodies in contact with the object [56][57][58][59][60] or the nozzle elements [61][62][63][64] responsible for forming the interacting flow are often employed.…”

Section: Introductionmentioning

confidence: 99%

Optimization of Outer Diameter Bernoulli Gripper with Cylindrical Nozzle

et al. 2023

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Gripping and manipulating objects using non-contact and low-contact technologies is becoming increasingly necessary in manufacturing. One of the promising contactless gripping technologies is Bernoulli gripping devices for industrial robots. They have many advantages, but when changing the nozzle geometry, it is difficult to find the optimal parameters of the outer diameter of the gripper and its operating parameters. Therefore, the article presents a model for numerical simulation of the dynamics of airflow in the nozzle of the Bernoulli gripping device and in the radial gap between its active surface and the surface of the object of manipulation. Reynolds-averaged Navier–Stokes equations of viscous gas dynamics, SST-model of turbulence, and γ-model of laminar-turbulent transition were used for this purpose. The technical requirements for the design of the nozzle of Bernoulli jet gripping nozzles are determined and variants of their constructive improvement are offered. According to the results of numerical simulation in the Ansys-CFD software environment, the optimal diameter of the Bernoulli gripping device and the influence of the geometric parameters of the nozzle on the nature of the pressure distribution in the radial gap and its lifting force were determined. Determined the optimal parameters of the height of the gap between the object of manipulation and the Bernoulli gripping device using C—Factor, which will allow efficient operation of Bernoulli gripping devices during automated handling operations using industrial robots.

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Section: Introductionmentioning

confidence: 99%

Optimization of Outer Diameter Bernoulli Gripper with Cylindrical Nozzle

et al. 2023

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“…On the other hand, the total weight that a robot can lift is partially dependent on the gripper (end-effector) it is carrying. This is one of the main concerns of designers, which can be solved by minimizing the number of actuators, applying the optimization algorithms, and making the parts hollow [1,4,13,14]. These parameters become even more important in designing a gripper for robotic arms with limitations in maximum load (most small industrial robots) as well as mobile robotic arms, like an autonomous robot with a robotic arm in a radiation zone [12].…”

Section: Introductionmentioning

confidence: 99%

Design and Implementation of a Compliant Gripper for Form Closure of Diverse Objects

Bingham,

Hessler,

Lama

et al. 2023

Applied Sciences

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This research presents a comprehensive study on the design and implementation of a flexible robotic gripper. Conventional grippers utilized in articulated robotic arms are often limited in their capabilities, being restricted to specific tasks or fixed object sizes. While soft grippers are a viable option, they have limitations in terms of grasping objects across a wide range and providing complete coverage. In this study, a novel compressible gripper is developed to enable safe and secure grasping of objects with varying sizes and shapes within a wide range. The gripper features a grasping area measuring 14 cm × 6 cm, allowing complete coverage of objects within this surface area. The current prototype with 7 cm of compressibility demonstrates the ability to grasp objects with a width difference of 7 cm with a maximum thickness of 15 cm, enabling manipulation of objects with varying widths, as defined by user-programmable parameters. The functionality of the gripper is based on the compressibility of the 3D-printed thermoplastic polyurethane (TPU) material. The flexible part of the gripper can be easily interchanged, offering versatility by accommodating different thicknesses without the need to replace the entire gripper mechanism. The gripper system operates using an open-loop control system, enhancing user-friendliness. Experimental evaluation of the gripper involved the creation and analysis of a CAD model followed by the fabrication of a prototype. The prototype exhibited exceptional performance in grasping objects of diverse sizes, shapes, and textures, demonstrating the effectiveness of the developed soft gripper system. The scalability of the soft gripper enables seamless integration with various types of articulated robotic arms, while the maximum weight limit for objects will be defined based on the robotic arms’ limitations. The research findings highlight the promising capabilities of the compressible gripper in enhancing the versatility and efficiency of robotic grasping systems, offering a significant contribution to the field of robotics.

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