Development of a vacuum gripper for a curvilinear surface

Development of a vacuum gripper for a curvilinear surface

Artem A. Voloshkin
Belgorod State Technological University V.G. Shukhov (BSTU named after V.G. Shukhov), Research Laboratory of Robotics and Control Systems, Research Engineer, 46, ul. Kostyukova, 308012, Belgorod, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Vladislav V. Cherkasov
BSTU named after V.G. Shukhov, Research Laboratory of Robotics and Control Systems, Research Engineer, 46, ul. Kostyukova, 308012, Belgorod, Russia

Valeria M. Skitova
BSTU named after V.G. Shukhov, Research Laboratory of Robotics and Control Systems, Research Engineer, 46, ul. Kostyukova, 308012, Belgorod, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Victoria S. Perevuznik
PhD in Technical Sciences, BSTU named after V.G. Shukhov, Research Laboratory of Robotics and Control Systems, Junior Research Scientist, 46, ul. Kostyukova, 308012, Belgorod, Russia

Anastasia A. Mamchenkova
BSTU named after V.G. Shukhov, Research Laboratory of Robotics and Control Systems, Junior Research Scientist, 46, ul. Kostyukova, 308012, Belgorod, Russia

Received November 01, 2024

Abstract
An analysis of existing structures has shown that flexible suction cups are often used to capture curved surfaces, but their effectiveness when working with plastic waste is limited due to insufficient retention reliability. The article proposes an innovative gripping device for sorting garbage, using the Bernoulli gripping principle and equipped with a spherical hinge to ensure greater flexibility and accuracy. A mathematical model of the device was developed its geometric parameters were optimized taking into account the maximum mass of objects. Simulation modeling in CAD/CAM/CAE of the NX system confirmed the operability of the concept, revealing several shortcomings that were taken into account when creating the prototype. During the development process, a careful selection of materials and components was carried out, as well as the design of the pneumatic system. The prototype was integrated with a sequential structure manipulator, which made it possible to conduct laboratory tests of the device, confirming its operability and identifying areas for further design improvement.

Key words
Pneumatic gripping device, curved surface, three-dimensional modeling, 3D printing.

Acknowledgements
This work was realized in the framework of the Program «Priority 2030» on the base of the Belgorod State Technological University named after V G Shukhov. The work was realized using equipment of High Technology Center at BSTU named after V.G. Shukhov.

EDN
IACJRY

Bibliographic description
Voloshkin, A.A. (2024), "Development of a vacuum gripper for a curvilinear surface", Robotics and Technical Cybernetics, vol. 13, no. 1, pp. 72-80, EDN: IACJRY. (in Russian).

UDC identifier
621.867.81

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