Automatic Two-Stage Vacuum Gripper System

An automatic vacuum gripper system has been developed and investigated. It allows industrial robots grasping and manipulating products with curved and rough surfaces. The system has a two-staged gripper unit consisting of sealing and force elements. It is built on the basis of standard components. Experimental operating characteristics of the gripping force are obtained. Dynamic properties of the system for various product surfaces are investigated. Dependences of friction coefficients for various gripper materials and environmental conditions are found that makes it possible to calculate the required gripper diameters. Leakage characteristics of the gripper system for the different shapes of product surface roughness are determined. Due to low weight and compact design of the system, it can be effectively used in combination with industrial robots to work with a wide range of products.