Dynamic Performance Analysis and Design of Vortex Array Grippers

In this study, the performance of a vortex array gripper was numerically investigated based on the pressure distribution on the surface of a gripped object and the resulting suction force. An analysis of the suction force generated by a single-vortex gripper was performed to determine the geometric parameters for providing a good suction force and subsequently, for the vortex array gripper configuration. Array grippers consisting of two- and four-vortex grippers were studied. For dual-vortex grippers, the generated suction forces of various inlet air configurations with different vortex gripper distances are illustrated. The pros and cons of all types of air supply and the influence of positive pressure formed by outlet airflow interaction were examined. The analysis of quad-vortex grippers also revealed that the suction force could be increased by reducing the outlet flow interaction between the grippers using the placement of exhaust vents. Thus, the installation of array grippers can be arranged in a more compact form to increase the total suction force per unit operation area with uniformity.