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Journal articles on the topic 'Bernoulli gripper'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

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1

Liu, Dong, Minghao Wang, Naiyu Fang, Ming Cong, and Yu Du. "Design and tests of a non-contact Bernoulli gripper for rough-surfaced and fragile objects gripping." Assembly Automation 40, no. 5 (June 29, 2020): 735–43. http://dx.doi.org/10.1108/aa-10-2019-0171.

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Purpose 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. Design/methodology/approach 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. Findings 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. Originality/value 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.
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2

Li, Xin, Ning Li, Guoliang Tao, Hao Liu, and Toshiharu Kagawa. "Experimental comparison of Bernoulli gripper and vortex gripper." International Journal of Precision Engineering and Manufacturing 16, no. 10 (August 29, 2015): 2081–90. http://dx.doi.org/10.1007/s12541-015-0270-3.

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3

Shi, Kaige, and Xin Li. "Optimization of outer diameter of Bernoulli gripper." Experimental Thermal and Fluid Science 77 (October 2016): 284–94. http://dx.doi.org/10.1016/j.expthermflusci.2016.03.024.

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4

SHIBATA, Daichi, Shugen MA, Yang TIAN, and Kanta KATO. "Factor Identification of the Energy Loss for Bernoulli Gripper." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 (2020): 2P1—L02. http://dx.doi.org/10.1299/jsmermd.2020.2p1-l02.

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5

Shi, Kaige, and Xin Li. "Experimental and theoretical study of dynamic characteristics of Bernoulli gripper." Precision Engineering 52 (April 2018): 323–31. http://dx.doi.org/10.1016/j.precisioneng.2018.01.006.

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6

Petterson, Anders, Thomas Ohlsson, Darwin G. Caldwell, Steven Davis, John O. Gray, and Tony J. Dodd. "A Bernoulli principle gripper for handling of planar and 3D (food) products." Industrial Robot: An International Journal 37, no. 6 (October 19, 2010): 518–26. http://dx.doi.org/10.1108/01439911011081669.

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7

Savkiv, Volodymyr, Roman Mykhailyshyn, Olena Fendo, and Mykhailo Mykhailyshyn. "Orientation Modeling of Bernoulli Gripper Device with Off-Centered Masses of the Manipulating Object." Procedia Engineering 187 (2017): 264–71. http://dx.doi.org/10.1016/j.proeng.2017.04.374.

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8

Li, Xin, and Toshiharu Kagawa. "Theoretical and Experimental Study of Factors Affecting the Suction Force of a Bernoulli Gripper." Journal of Engineering Mechanics 140, no. 9 (September 2014): 04014066. http://dx.doi.org/10.1061/(asce)em.1943-7889.0000774.

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9

Yu, Xubo, and Xin Li. "Inertia-enhancement effect of divergent flow on the force characteristics of a Bernoulli gripper." Physics of Fluids 33, no. 5 (May 2021): 057108. http://dx.doi.org/10.1063/5.0050410.

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10

Stühm, Kai, Alexander Tornow, Jan Schmitt, Leonard Grunau, Franz Dietrich, and Klaus Dröder. "A Novel Gripper for Battery Electrodes based on the Bernoulli-principle with Integrated Exhaust Air Compensation." Procedia CIRP 23 (2014): 161–64. http://dx.doi.org/10.1016/j.procir.2014.10.065.

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11

Dini, G., G. Fantoni, and F. Failli. "Grasping leather plies by Bernoulli grippers." CIRP Annals 58, no. 1 (2009): 21–24. http://dx.doi.org/10.1016/j.cirp.2009.03.076.

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12

Mykhailyshyn, Roman, Volodymyr Savkiv, Igor Boyko, Erik Prada, and Ivan Virgala. "Substantiation of Parameters of Friction Elements of Bernoulli Grippers With a Cylindrical Nozzle." International Journal of Manufacturing, Materials, and Mechanical Engineering 11, no. 2 (April 2021): 17–39. http://dx.doi.org/10.4018/ijmmme.2021040102.

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The article provides a step-by-step justification of the parameters of the friction elements of the Bernoulli gripping devices with a cylindrical nozzle. The effect of friction element parameters on the lifting force of Bernoulli grippers with the classic design of the active surface and with the rounded-off nozzle and flat and toroidal surface is considered. Influence of friction elements location radius on grip lifting force is considered. Influence of friction elements shape on grip lifting force is considered. Effect of friction coefficient between friction elements of grip and object of manipulation on minimum required lifting force in order to perform handling operation is investigated. Influence of number of friction elements on Bernoulli grip lifting force is considered. For the grip design with the rounded-off nose and flat and toroidal surface when the elliptical friction elements overlap the end gap by 73%, the lifting force will increase by 7% in torsion with the lifting force without the friction elements.
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13

Savkiv, V., R. Mykhailyshyn, and F. Duchon. "Gasdynamic analysis of the Bernoulli grippers interaction with the surface of flat objects with displacement of the center of mass." Vacuum 159 (January 2019): 524–33. http://dx.doi.org/10.1016/j.vacuum.2018.11.005.

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14

Brun, X., and S. N. Melkote. "Effect of Substrate Flexibility on the Pressure Distribution and Lifting Force Generated by a Bernoulli Gripper." Journal of Manufacturing Science and Engineering 134, no. 5 (September 10, 2012). http://dx.doi.org/10.1115/1.4007186.

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This paper presents the modeling and analysis of the pressure distribution and lifting force generated by a Bernoulli gripper when handling flexible substrates such as thin silicon wafers. A Bernoulli gripper is essentially a radial airflow nozzle used to handle large and small, rigid and nonrigid materials by creating a low pressure region or vacuum between the gripper and material. Previous studies on Bernoulli gripping have analyzed the pressure distribution and lifting force for handling thick substrates that undergo negligible deformation. Since the lifting force produced by the gripper is a function of the gap between the handled object and the gripper, any deformation of the substrate will influence the gap and consequently the pressure distribution and lifting force. In this paper, the effect of substrate (thin silicon wafer) flexibility on the equilibrium wafer deformation, radial pressure distribution and lifting force is modeled and analyzed using a combination of computational fluid dynamics (CFD) modeling and finite element analysis. The equilibrium wafer deformation for different air flow rates is compared with experimental data and is shown to be in good agreement. In addition, the effect of wafer deformation on the pressure and lifting force are shown to be significant at higher volumetric airflow rates. The modeling and analysis approach presented in this paper is particularly useful for evaluating the effect of gripper variables on the handling stresses generated in thin silicon wafers and for gripper design optimization.
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15

Brun, Xavier F., and Shreyes N. Melkote. "Modeling and Prediction of the Flow, Pressure, and Holding Force Generated by a Bernoulli Handling Device." Journal of Manufacturing Science and Engineering 131, no. 3 (June 1, 2009). http://dx.doi.org/10.1115/1.3139222.

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This paper presents the modeling and prediction of the air flow, pressure, and holding (or lifting) force produced by a noncontact Bernoulli gripper, which is essentially a radial air flow nozzle used to handle small and large rigid and nonrigid materials. Previous studies have demonstrated the turbulent behavior of the flow and the presence of a flow separation region at the nozzle of the gripper. Here, a Reynolds stress model has been implemented in a finite volume based segregated Reynolds-averaged Navier–Stokes solver. Compressible air is modeled to capture the effect of the high flow velocities generated by the nozzle. In addition an experimental setup is designed to validate the model. Experimental results of air pressure and lifting force agree favorably with those predicted by the model. This model could be used to understand the influence of handling variables such as the stand-off distance and air flow rate on the suction pressure distribution and lifting force acting on the handled object.
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