Experimental studies of gas-dynamic and hydrodynamic processes occurring in vacuum gripping devices operating in various environments

Experimental studies of gas-dynamic and hydrodynamic processes occurring in vacuum gripping devices operating in various environments

Philepp M. Belchenko
Junior Research Scientist, Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences (IPMech RAS), Laboratory of Robotics and Mechatronics, 101-1, pr. Vernadskogo, Moscow, 119526, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-7596-9970

Maxim M. Knyazkov
О, Senior Research Scientist, IPMech RAS, Laboratory of Robotics and Mechatronics, 101-1, pr. Vernadskogo, Moscow, 119526, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-5863-4079

Pavel P. Ostrikov
Lead programmer, IPMech RAS, Laboratory of Robotics and Mechatronics, 101-1, pr. Vernadskogo, Moscow, 119526, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0009-0000-7569-1246

Evgeniy A. Semenov
Candidate of Engineering Sciences, Senior Research Scientist, IPMech RAS, Laboratory of Robotics and Mechatronics, 101-1, pr. Vernadskogo, Moscow, 119526, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-6196-1433

Artem N. Sukhanov
Candidate of Engineering Sciences, Senior Research Scientist, IPMech RAS, Laboratory of Robotics and Mechatronics, 101-1, pr. Vernadskogo, Moscow, 119526, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-4122-492X

Vladislav G. Chaschukhin
Candidate of Physical and Mathematical sciences, Senior Research Scientist, IPMech RAS, Laboratory of Robotics and Mechatronics, 101-1, pr. Vernadskogo, Moscow, 119526, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

UDC identifier: 007.52:621.52

EDN: RTLXAK

Abstract. The article experimentally confirms the idea of the possibility of using vacuum gripping devices for securing on arbitrarily oriented surfaces in space, as part of wall climbing robots operating in air, water and mixed environments. An ejector with a nozzle diameter of 2 mm was used as a vacuum generator in the vacuum gripping device, and a suction cup with a bellows with a diameter of 100 mm was used as a vacuum cavity. The experiments were carried out at different parameters of the inlet pressure to the ejector and in different environments. Characteristics of the transient processes occurring in the vacuum cavity were obtained, while the suction cup was subjected to a directed effort on separation and shear using a pneumatic cylinder. To carry out the research, a full-size experimental setup was created, which included control and measuring instruments that made it possible to monitor in real time the level of vacuum in the cavity of the gripping device when exposed to a pneumatic cylinder. A series of experiments in an aquatic environment were carried out at various immersion depths.

Key words: vacuum gripping devices, vacuum generator, transients, mobile vertical movement robot, experimental stand

For citation: Belchenko, F.M., Knyazkov, M.M., Ostrikov, P.P., Semenov, E.A. et al. (2025), "Experimental studies of gas-dynamic and hydrodynamic processes occurring in vacuum gripping devices operating in various environments", Robotics and Technical Cybernetics, vol. 13, no. 4, pp. 285-292, EDN: RTLXAK. (in Russian).

Acknowledgements
This project is supported by RSCF grant № 23-11-00067 Vacuum grasping devices for robots operating in air, water, and interfacial environments.

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Received 02.07.2024
Revised 25.07.2024
Accepted 25.01.2025