Machine Theory Theoretical model of the grasp with vacuum gripper
نویسنده
چکیده
Vacuum grippers are often notably diffused for grasping and moving very large and heavy objects. The absence of theoretical models able to foresee the behavior of the suction cup notably limits the applications and development of vacuum grippers. In this work, a study of grasping with a vacuum gripper has been carried out. A mathematical model is proposed for determining the forces of contact between suction cup and object. The principal purpose is to determine the minimum value of the static friction coefficient and the vacuum level in order to guarantee a firm grasp of the object during the movement, or rather without detachment or slipping of the suction cup. Finally, an example of the motion of an object grasped with suction cup is reported. 2006 Elsevier Ltd. All rights reserved.
منابع مشابه
Design and Performance of a Multi-Port Robotic Suction Gripper
This paper presents the mechanical-workings and gripping performance characteristics of a vacuum-based robotic gripper. The gripper uses multiple ports with attached commercial suction cups to grasp objects from a variety of directions using suction power. The valves remain closed until opened by a hinge-based mechanism, in order to eliminate vacuum leakage. The ability for the valves to be act...
متن کاملDesign Constraints of Vacuum Gripper of Robots – as a Pick and Place Operating Tool
A substantial part of automated material handling and assembly is the interface between machine and work piece. Most of the robots grippers are not easily applicable for material handling such as the food products are often delicate, easily marked or bruised, adhesive and slippery. This study is an innovative approach of a gripper for handling variable size, shape and weight of unpacked food pr...
متن کاملMaterial Compositions Affects Vacuum System in Gripping Technology
Some grippers operate using Bernoulli Principle for generating a high-speed flow between the gripper plate and product surface thereby creating vacuum which lifted the product. Most of the robot grippers are not easily applicable due to the food products are often delicate, easily marked or bruised, adhesive and slippery. Feasibility observations are studied to demonstrate and obtain an overall...
متن کاملGrasp analysis of a four-fingered robotic hand based on Matlab simmechanics
The structure of the human hand is a complex design comprising of various bones, joints, tendons, and muscles functioning together in order to produce the desired motion. It becomes a challenging task to develop a robotic hand replicating the capabilities of the human hand. In this paper, the analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return me...
متن کاملVacuum Cup Grippers for Material Handling In Industry
The vacuum cup grippers operate using Bernoulli Principle for generating high-speed flow between the vacuum cup and product surface thereby creating vacuum which lifted the product. Feasibility observations are studied to demonstrate and obtain an overall understanding on the capability and limitations of the vacuum cup gripper. Most of the robot grippers are not easily applicable due to the fo...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2006