Theoretical model of the grasp with vacuum gripper

Vacuum grippers are often notably diffused for grasping and moving very large and heavy objects. The absence of theoretical models able to foresee the behavior of the suction cup notably limits the applications and development of vacuum grippers. In this work, a study of grasping with a vacuum gripper has been carried out. A mathematical model is proposed for determining the forces of contact between suction cup and object. The principal purpose is to determine the minimum value of the static friction coefficient and the vacuum level in order to guarantee a firm grasp of the object during the movement, or rather without detachment or slipping of the suction cup. Finally, an example of the motion of an object grasped with suction cup is reported.