A Semi-Empirical Fluid Dynamic Model of a Vacuum Microgripper Based on CFD Analysis

Vacuum microgrippers are devices used to handle and manipulate small objects. Despite their simple working principle and low cost, they show low efficiency in detaching performance, especially when the object to be grasped is very small. In this work, a particular design for vacuum microgrippers with an incorporated automatic release tool is considered. The final goal of this study was to present a numerical model that can supply reliable estimates of the aerodynamic force acting on the release tool and of the air flow rate inside the gripper as a function of geometric parameters and the outlet pressure value. A complete CFD analysis of a simplified model of the device is presented. Grid independence analysis was also performed to define a suitable grid and guarantee a good trade-off between accuracy and computing time. According to Design of Experiments (DOE) techniques, 81 simulations were performed, changing the values of the outlet pressure (p2), the body inner diameter (D), the lateral holes’ diameter (d) and the releasing mass length (L). Every design variable could assume three different values. Linear regression, based on the least square method, was employed to determine mass flow rate and lifting force empirical correlations.