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Experimental Comparison of Bernoulli Gripper and Vortex Gripper
Xin Li,Ning Li,Guoliang Tao,Hao Liu,Toshiharu Kagawa 한국정밀공학회 2015 International Journal of Precision Engineering and Vol. No.
A Bernoulli gripper and a vortex gripper are types of pneumatic grippers that have similar functions but different working principles. They are widely used for performing gripping, transferring, and placing operations in automated production lines. This study systematically compares the two grippers and provides an objective reference to enable users to choose an appropriate gripper. First, we present the working principles of both grippers. Then, we measure the curves of suction force, air consumption, and upstream pressure; furthermore, we analyze and compare the energy consumption from the viewpoint of the entire pneumatic system. The results reveal the relationships with the air consumption and total energy consumption. Next, we measure the pressure distribution formed on the upper surface of the workpiece. From the experimental results, the principles of the two grippers are stated and compared. Furthermore, we use the pressure distribution data to estimate the deformation and inner stress of the workpiece. The influence of the grippers on the workpiece are analyzed and compared from a material mechanics viewpoint. Finally, we use three types of rough surfaces to qualitatively evaluate and compare the performance of the grippers when gripping a workpiece with a rough surface
서용신(Yong-Sin Seo),이재영(Jae-Young Lee),박종우(Jongwoo Park),박찬훈(Chanhun Park),한병길(Byung-Kil Han),박정애(Jeongae Bak),유고 로드리그(Hugo Rodrigue),송성혁(Sung-Hyuk Song) 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
The suction gripper is popular gripper type in the industrial field due to its simple gripping mechanism. It has an advantage on the gripping flat-shaped object so it is mostly used to transfer the box or plastic bag. However, the general suction gripper has limitation on the gripping complex-shaped object, so it is difficult to extend the gripper to various field. Therefore, we develop the multi-purpose suction gripper to grip complex-shaped gripper by mimicking the structure of the octopus’s leg. Similar to the octopus’s leg, the developing soft suction gripper can adapt various shape of object then realize high gripping force. In this paper, we propose the design of soft suction gripper.
파지와 흡착이 가능한 가변 스트로크 공압 소프트 그리퍼
류준혁(Jun-Hyuck Ryoo),박성제(Sung-Jae Park),전효종(Hyo-Jong Jeon),송재복(Jae-Bok Song) 한국로봇학회(논문지) 2024 로봇학회 논문지 Vol.19 No.3
With the recent emergence of collaborative robots, demand for grippers to be used in service sites is increasing. Soft grippers have advantages in terms of compliance, cost, weight, and stability, but it is difficult to handle objects of various shapes, sizes, and weights with a single gripper. In this study, based on a fluidic elastomer actuator (FEA), we propose a pneumatic soft gripper that can grip a variety of objects, consisting of fingers capable of both grasping and vacuum suction and a base with variable stroke between the fingers using a pneumatic cylinder. A check valve is installed inside the finger, so that when positive pressure is supplied, the finger expands to perform adaptive grasping, and when negative pressure is supplied, vacuum suction can be performed. Grasping experiments were conducted on various objects to evaluate the performance of the proposed gripper, and 94% of 54 gripping objects were successfully grasped.
압축 공기를 사용한 소형 이젝트의 진공 흡입 성능 평가 요인에 관한 연구
김준현(Joon Hyun Kim),배현우(Hyunwoo Bae),성재용(Jaeyong Sung) 한국생산제조학회 2020 한국생산제조학회지 Vol.29 No.4
This study analyzed the internal flow structure of a small ejector and the major design factors that affect suction force. The ejector had a limited total length of 45 mm, and the primary nozzle had a diameter of 1 mm. This study investigated the effect of the main parameters on optimum nozzle opening ratio based on injection flow as well as the influence of the mixing chamber design on vacuum suction performance. The second nozzle had a significant effect when the diameter was 18 mm. Other parameter values were studied to identify design elements that determine the shape of the mixing chamber. The effect of the pad opening gap and the change in ambient pressure on the control state of the inflow ratio and the possibility of non-contact gripping were also examined.