The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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A Gripping System Capable of Simultaneous Implementation of Pneumatic Gripper and Vacuum Gripper Using a Single Pump

단일 펌프를 이용하여 공압 그리퍼와 진공 그리퍼의 동시 구현이 가능한 그리핑 시스템의 개발

  • Received : 2023.06.07
  • Accepted : 2023.10.19
  • Published : 2023.11.30
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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.

Keywords

Acknowledgement

This research was supported by the MOTIE under the Industrial Foundation Technology Development Program supervised by the KEIT (No. 20015198)

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