Abstract
A Bernoulli gripper and a vortex gripper are types of pneumatic grippers that have similar functions but different working principles. They are widely used for performing gripping, transferring, and placing operations in automated production lines. This study systematically compares the two grippers and provides an objective reference to enable users to choose an appropriate gripper. First, we present the working principles of both grippers. Then, we measure the curves of suction force, air consumption, and upstream pressure; furthermore, we analyze and compare the energy consumption from the viewpoint of the entire pneumatic system. The results reveal the relationships with the air consumption and total energy consumption. Next, we measure the pressure distribution formed on the upper surface of the workpiece. From the experimental results, the principles of the two grippers are stated and compared. Furthermore, we use the pressure distribution data to estimate the deformation and inner stress of the workpiece. The influence of the grippers on the workpiece are analyzed and compared from a material mechanics viewpoint. Finally, we use three types of rough surfaces to qualitatively evaluate and compare the performance of the grippers when gripping a workpiece with a rough surface.
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