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Research Papers

Modeling and Prediction of the Flow, Pressure, and Holding Force Generated by a Bernoulli Handling Device

[+] Author and Article Information
Xavier F. Brun

George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332xavier.brun@me.gatech.edu

Shreyes N. Melkote

George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332shreyes.melkote@me.gatech.edu

J. Manuf. Sci. Eng 131(3), 031018 (Jun 03, 2009) (7 pages) doi:10.1115/1.3139222 History: Received July 03, 2008; Revised April 20, 2009; Published June 03, 2009

This paper presents the modeling and prediction of the air flow, pressure, and holding (or lifting) force produced by a noncontact Bernoulli gripper, which is essentially a radial air flow nozzle used to handle small and large rigid and nonrigid materials. Previous studies have demonstrated the turbulent behavior of the flow and the presence of a flow separation region at the nozzle of the gripper. Here, a Reynolds stress model has been implemented in a finite volume based segregated Reynolds-averaged Navier–Stokes solver. Compressible air is modeled to capture the effect of the high flow velocities generated by the nozzle. In addition an experimental setup is designed to validate the model. Experimental results of air pressure and lifting force agree favorably with those predicted by the model. This model could be used to understand the influence of handling variables such as the stand-off distance and air flow rate on the suction pressure distribution and lifting force acting on the handled object.

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Copyright © 2009 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Schematic of a Bernoulli gripper with end mill cone

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Figure 2

(a) Simplified model geometry; (b) fluid domain with boundary conditions

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Figure 3

Mach number variation at the nozzle inlet as a function of the mass flow rate (M)

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Figure 4

Lifting force convergence (M=2 g/s, H=2 mm)

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Figure 5

Residuals convergence monitoring (M=2 g/s, H=2 mm)

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Figure 6

Actual grid used in the model

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Figure 7

Influence of the number of cells on the predicted radial gauge pressure generated by a Bernoulli gripper on the surface of the handled object

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Figure 8

Influence of the number of cells on the predicted lifting force and relative error compared with the dynamic adaptive grid solution

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Figure 9

Experimental setup

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Figure 10

Gauge pressure distribution maps (kPa) for specific volumetric flow rate (V) and stand-off distance (H) pairs

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Figure 11

Contour plot of the radial velocity and Reynolds number values (H=2 mm and M=3 g/s)

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Figure 12

Measured versus predicted radial gauge pressure on the surface of the handled object at V=35 L/min and H=3 mm

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Figure 13

Predicted versus calculated lifting force at two stand-off distances (H=2 mm and H=3 mm)

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