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Sensors and Grippers in Robot Work Cells
Published in Ulrich Rembold, Robot Technology and Applications, 2020
Vacuum grippers are mainly suction grippers that use a vacuum pump or a venturi jet to generate a (70–90%) vacuum between a suction cup and the gripping plane. The version that pressed out the air is hardly used any more and is not analyzed here. The suction cups are made of rubberlike materials (silicone, neoprene). Depending on the design and on the material, suction cups are suitable for workpiece temperatures up to 200°C. To adapt to local variations in surface angle, the vacuum cup can be equipped with a ball joint.
Seismic Behavior of an Innovative System for Preventing Gas Leakage through Reinforced Concrete Shear Walls of Nuclear Facilities
Published in Journal of Earthquake Engineering, 2023
Using Eq. (2), the shear strength of the RC wall is calculated as 711.72 kN. Based on this value, the four loading steps adopted in all tests are identified as follows: (a) 177.93 kN for Step 1 (25%ϕVn), (b) 355.86 kN for Step 2 (50%ϕVn), (c) 533.79 kN for Step 3 (75%ϕVn), and (d) 711.72 kN for Step 4 (100%ϕVn). At the end of each load step, load was released and was held at zero, after which the following procedures were implemented: (a) both suction cup surface and the butyl rubber were moistened with a damp rag, (b) suction cup was then attached to the upstream side by turning on the vacuum and applying pressure to the cup until a vacuum is formed, (c) once the desired vacuum pressure was achieved (typically 13.79 kPa), the suction cup valve was shut, and the vacuum pump was turned off, (d) triggers for collecting data from instruments were then turned on, (e) data was recorded while pressure decayed to a minimum of 68.95 Pa, (f) soil specimens with varying moisture content, fine-fraction content, and thicknesses are attached to the downstream side of the RC shear wall specimens. The installation of different soil layers was performed following load Steps (3) and (4), (g) data were recorded again in the presence of soil specimen, while pressure decayed a minimum of 68.95 Pa, and (h) triggers were turned off and suction cup was removed. These procedures were repeated until stable results were obtained. Additional details on these procedures are reported by Konsowa (2014) and Konsowa, Mosallam, and Barakat (2015).
A mobile dual-arm manipulation robot system for stocking and disposing of items in a convenience store by using universal vacuum grippers for grasping items
Published in Advanced Robotics, 2020
Ryo Sakai, Shinichi Katsumata, Takahiro Miki, Taiki Yano, Wenpeng Wei, Yuya Okadome, Nobuhiro Chihara, Nobutaka Kimura, Yusuke Nakai, Isamu Matsuo, Toshihiko Shimizu
Two approaches to handle to a wide range of items can be taken, namely, a vacuum suction cup or a gripper with fingers. A vacuum suction cup can grasp objects with a flat, convex, and deformable shape. However, it cannot grasp objects with non-convex shape [6]. In contrast, a gripper with fingers can grasp objects with convex and non-convex shapes, but it cannot easily grasp objects with flat and deformable shape [6]. When variations of the shape are limited as in the case of FCSC 2017 [1], a system using a vacuum suction cup or a gripper with fingers can handle objects. However, in a real convenience store, the robot should handle objects with non-convex shape, like vegetables and fruits. In such case, it is difficult to handle objects with various shapes by using a vacuum suction cup or a gripper with fingers.
Whale rover moving along the surface of sperm whale
Published in Advanced Robotics, 2019
Kosuke Tsuchiya, Yuichi Tsumaki, Kyoichi Mori, Ryosuke Okamoto
The most recent whale rover prototype uses a bellows-type suction cup with a 40 mm diameter. Bellows-type suction cups offer a high level of deformity and are often used in conjunction with curved (e.g. eggs) or easily deformed (e.g. prepackaged snacks) objects. This modified suction cup design was intended to improve the whale rover's ability to travel across curved or uneven surfaces as shown in Figure 7.