ベルヌーイの原理を利用した非接触水中壁面吸着機構の吸着力のモデル構築

抄録

In recent years, a study on non-contact adsorption mechanisms used for a gripper and suction cup is advancing. One representative example of such a mechanism has been known as a Bernoulli gripper. However, there are still many points that have not been clarified (especially adsorption principle). In most previous works, the relationship between the design parameters of the Bernoulli gripper and three variables (flow rate during adsorption, the gap between the gripper and object, and adsorption force) was only experimentally examined. In this paper, how design parameters of Bernoulli gripper influence those three variables is studied theoretically by modeling. Furthermore, whether the model is correct or not was verified by experiments.