단일 펌프를 이용하여 공압 그리퍼와 진공 그리퍼의 동시 구현이 가능한 그리핑 시스템의 개발
A Gripping System Capable of Simultaneous Implementation of Pneumatic Gripper and Vacuum Gripper Using a Single Pump
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초록
In recent years, the use of robot arms has increased rapidly in both industrial and service applications. Unlike production sites, where only one type of gripper is used for productivity, service sites often use a tool changer to replace fingered grippers or vacuum grippers to cover various objects to be grasped. To this end, a tool changer-based pneumatic grasping system was developed in this study. In order to simultaneously use a positive pressure-based pneumatic gripper and a negative pressure-based vacuum gripper, a small vane pump capable of generating positive and negative pressures depending on the direction of rotation was developed. Experiments with actual prototypes have shown that the pneumatic system based on the developed vane pump can effectively realize both pneumatic grippers and vacuum grippers.
Abstract
In recent years, the use of robot arms has increased rapidly in both industrial and service applications. Unlike production sites, where only one type of gripper is used for productivity, service sites often use a tool changer to replace fingered grippers or vacuum grippers to cover various objects to be grasped. To this end, a tool changer-based pneumatic grasping system was developed in this study. In order to simultaneously use a positive pressure-based pneumatic gripper and a negative pressure-based vacuum gripper, a small vane pump capable of generating positive and negative pressures depending on the direction of rotation was developed. Experiments with actual prototypes have shown that the pneumatic system based on the developed vane pump can effectively realize both pneumatic grippers and vacuum grippers.
참고문헌 (6)
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- Roman Mykhailyshyn, "A SYSTEMATIC REVIEW ON PNEUMATIC GRIPPING DEVICES FOR INDUSTRIAL ROBOTS", Transport, 37(3), pp.201~231 (2022), Vilnius Gediminas Technical University[DOI]
- Zhongkui Wang, "A dual-mode soft gripper for food packaging", Robotics and Autonomous Systems, 125, pp.103427~ (2020), Elsevier BV[DOI]
- B.S. Ramprasad, "On some design aspects of rotary vane pumps", Vacuum, 23(7), pp.245~249 (1973), Elsevier BV[DOI]
- Mohammed Ammar, "FLOW MODELLING AND PERFORMANCE ASSESSMENT OF ROTARY SLIDING VANE PUMP USING COMPUTATIONAL FLUID DYNAMICS", Journal of Al-Azhar University Engineering Sector, 13(49), pp.1268~1288 (2018), Egypts Presidential Specialized Council for Education and Scientific Research[DOI]
- "13th, Fluid Mechanics" (2013)[URL]