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个人信息Personal Information
副教授
博士生导师
硕士生导师
性别:男
毕业院校:大连理工大学
学位:博士
所在单位:机械工程学院
学科:机械电子工程. 机械制造及其自动化. 机械设计及理论
办公地点:机械学院6116
电子邮箱:liud@dlut.edu.cn
Design and tests of a non-contact Bernoulli gripper for rough-surfaced and fragile objects gripping
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论文类型:期刊论文
发表时间:2020-09-15
发表刊物:ASSEMBLY AUTOMATION
收录刊物:SCIE
卷号:40
期号:5
页面范围:735-743
ISSN号:0144-5154
关键字:Grippers; Handling; Non-contact gripper; Bernoulli principle; Fragile objects gripping; CFD
摘要: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.