Optimization of mechanical performance of a Bernoulli gripper based on the force characteristic curve synthesis method
ISSN: 0143-991x
Article publication date: 5 July 2022
Issue publication date: 20 September 2022
Abstract
Purpose
The Bernoulli gripper fixedly installed on the manipulator is subject to limitations such as a small-working region and poor anti-interference capacity. This paper aims to propose a novel Bernoulli gripper design that involves the connection of a positive stiffness component such as a spring in series, based on the force characteristic curve synthesis method, to optimize the mechanical performance.
Design/methodology/approach
The proposed gripper is designed and manufactured. In the suction procedure, the force characteristic curve of the proposed gripper is theoretically and experimentally investigated. In the hovering detection procedure, a dynamic model of the manipulator-gripper-workpiece system is established, and an apparatus is set up to compare the displacements of the workpiece and the manipulator. The proposed gripper is finally applied in the lifting procedure, showing good impact resistance.
Findings
The optimization of mechanical performance of the proposed gripper is realized. The proposed gripper has the effect of increasing the stiffness of the negative stiffness part of the force characteristic curve and reducing the stiffness of the positive stiffness part, increasing the working region. The stability and the anti-interference ability of the workpiece under high-frequency vibration are improved. Meanwhile, the impact resistance in the lifting procedure is enhanced, compared with the original one.
Originality/value
This research proposes a novel design for the Bernoulli grippers to optimize the mechanical performance. The proposed gripper has advantages of a larger working region, better anti-interference ability and better impact resistance. These findings serve as important theoretical and experimental references for the design of the Bernoulli gripper.
Keywords
Acknowledgements
This work was supported by Shenzhen Science and Technology Plan Foundation (No. 2021SZVUP154), China Postdoctoral Science Foundation (No.2020M671707) and National Natural Science Foundation of China (No. 51975514).
Citation
Yu, X., Zhao, J. and Li, X. (2022), "Optimization of mechanical performance of a Bernoulli gripper based on the force characteristic curve synthesis method", Industrial Robot, Vol. 49 No. 6, pp. 1169-1177. https://doi.org/10.1108/IR-01-2022-0010
Publisher
:Emerald Publishing Limited
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