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Design and tests of a non-contact Bernoulli gripper for rough-surfaced and fragile objects gripping
Robotic Intelligence and Automation ( IF 2.1 ) Pub Date : 2020-06-29 , DOI: 10.1108/aa-10-2019-0171 Dong Liu , Minghao Wang , Naiyu Fang , Ming Cong , Yu Du
Robotic Intelligence and Automation ( IF 2.1 ) Pub Date : 2020-06-29 , DOI: 10.1108/aa-10-2019-0171 Dong Liu , Minghao Wang , Naiyu Fang , Ming Cong , Yu Du
Varied shapes and sizes of different products with irregular rough surface and fragile properties give a challenge to traditional contact gripping. Single Bernoulli grippers are not suited to handle fragile objects as the impact of center negative pressure force could result in large deformation and stress which damage the materials, and they are also have some limitations for gripping objects with different large and small shapes. Thus, this paper aims to design a non-contact gripper for soft, rough-surfaced and fragile objects gripping with multi Bernoulli heads, which have optimal structures and parameters.,The compressed air is ejected into four Bernoulli heads through radial and long flow channels, then passes through four strip-shaped narrow gaps after fully developing in the annular cavity to provide negative pressure. Based on the mathematic model and the computational model, the key structural parameters affecting the gripping performance are selected, and parameters optimization of the gripper is performed by computational fluid dynamics simulation analysis and performance evaluation. The orthogonal method is used and L16 orthogonal array is selected for experimental design and optimization. The characteristics of the designed gripper are tested from the aspects of pressure distribution and lifting force.,From the applications in gripping different objects, the designed non-contact gripper can grip varied shapes and sizes of soft, rough-surfaced, fragile and sliced objects with little effect of torque.,In this paper, a non-contact gripper is designed for handling soft, rough-surfaced and fragile objects based on the Bernoulli principle. A systematic approach, which consists of modeling, simulation, optimization and measurement is provided for the non-contact gripper design and tests.
中文翻译:
用于抓取粗糙表面和易碎物体的非接触式伯努利抓手的设计和测试
具有不规则粗糙表面和易碎特性的不同形状和尺寸的不同产品对传统的接触式抓取提出了挑战。单个伯努利夹爪不适合抓取易碎物体,因为中心负压力的冲击会导致较大的变形和应力,从而损坏材料,并且它们对于抓取大小不同的物体也有一定的局限性。因此,本文旨在设计一种具有最佳结构和参数的多伯努利头夹持柔软、粗糙和易碎物体的非接触式夹持器。压缩空气通过径向和长流道喷射到四个伯努利头中。 ,然后在环形腔内充分展开后通过四个条形窄间隙提供负压。基于数学模型和计算模型,选取影响抓取性能的关键结构参数,通过计算流体动力学仿真分析和性能评估,对抓取器进行参数优化。采用正交法,选用L16正交阵进行试验设计和优化。从压力分布和提升力等方面测试了所设计的夹持器的特性。,从夹持不同物体的应用来看,设计的非接触式夹持器可以夹持各种形状和尺寸的柔软、粗糙、易碎和切片的物体扭矩影响很小。,在本文中,基于伯努利原理设计了一种非接触式夹具,用于处理柔软、表面粗糙和易碎的物体。一种系统的方法,
更新日期:2020-06-29
中文翻译:
用于抓取粗糙表面和易碎物体的非接触式伯努利抓手的设计和测试
具有不规则粗糙表面和易碎特性的不同形状和尺寸的不同产品对传统的接触式抓取提出了挑战。单个伯努利夹爪不适合抓取易碎物体,因为中心负压力的冲击会导致较大的变形和应力,从而损坏材料,并且它们对于抓取大小不同的物体也有一定的局限性。因此,本文旨在设计一种具有最佳结构和参数的多伯努利头夹持柔软、粗糙和易碎物体的非接触式夹持器。压缩空气通过径向和长流道喷射到四个伯努利头中。 ,然后在环形腔内充分展开后通过四个条形窄间隙提供负压。基于数学模型和计算模型,选取影响抓取性能的关键结构参数,通过计算流体动力学仿真分析和性能评估,对抓取器进行参数优化。采用正交法,选用L16正交阵进行试验设计和优化。从压力分布和提升力等方面测试了所设计的夹持器的特性。,从夹持不同物体的应用来看,设计的非接触式夹持器可以夹持各种形状和尺寸的柔软、粗糙、易碎和切片的物体扭矩影响很小。,在本文中,基于伯努利原理设计了一种非接触式夹具,用于处理柔软、表面粗糙和易碎的物体。一种系统的方法,