Bernoulli gripper for handling delicate sliced food materials

Uses

silicon wafers
photovoltaic cell components
handling sterile material
sheet foodstuffs
wall climbing robots

problems

since contact less great chance of sliding

soft flexible foodstuff would deform and vibrate causing damage

DELICATE SLICED FOODS

lasagne pasta
cheese
Tomato, cucumber slices
Bread
sliced salmon

LATEST REASEARCH

For preventing sliding (For a fixed size)

To minimize contact (Rib)

PROJECT STRATEGY

PHASE 1: Literature Survey

PHASE 2: To develop the prototype of the existing design
PHASE 3: Testing the prototype and identify the loopholes
PHASE 4: Design optimization
PHASE 5: To build the new prototype
PHASE 6: Testing the prototype
Bernoulli principle
Bernoulli's principle states that an increase in the speed of a fluid occurs
simultaneously with a decrease in pressure or a decrease in the fluid's potential
energy

Index

Bernoulli Equation Bernoulli

concepts
The Bernoulli Equation can be considered to be a statement of the conservation of
energyprinciple appropriate for flowing fluids. The qualitative behavior that is usually labeled
with the term "Bernoulli effect" is the lowering of fluid pressure in regions where the flow
velocity is increased. This lowering of pressure in a constriction of a flow path may seem
counterintuitive, but seems less so when you consider pressure to be energy density. In the
high velocity flow through the constriction, kinetic energy must increase at the expense of
pressure energy.

Steady-state flow caveat: While the Bernoulli equation is stated in terms of universally valid
ideas like conservation of energy and the ideas of pressure, kinetic energy and potential
energy, its application in the above form is limited to cases of steady flow. For flow through a
tube, such flow can be visualized as laminar flow, which is still an idealization, but if the flow
is to a good approximation laminar, then the kinetic energy of flow at any point of the fluid
can be modeled and calculated. The kinetic energy per unit volume term in the equation is the
one which requires strict constraints for the Bernoulli equation to apply - it basically is the
assumption that all the kinetic energy of the fluid is contributing directly to the forward flow
process of the fluid. That should make it evident that the existence of turbulence or any
chaotic fluid motion would involve some kinetic energy which is not contributing to the
advancement of the fluid through the tube.

It should also be said that while conservation of energy always applies, this form of parsing
out that energy certainly does not describe how that energy is distributed under transient
conditions. A good visualization of the Bernoulli effect is the flow through a constriction, but
that neat picture does not describe the fluid when you first turn on the flow.

Another approximation involved in the statement of the Bernoulli equation above is the
neglect of losses from fluid friction. Idealized laminar flow through a pipe can be modeled
byPoiseuille's law, which does include viscous losses resulting in a lowering of the pressure
as you progress along the pipe. The statement of the Bernoulli equation above would lead to
the expectation that the pressure would return to the value P1 past the constriction since the
radius returns to its original value. This is not the case because of the loss of some energy
from the active flow process by friction into disordered molecular motion (thermal energy).
More accurate modeling can be done by combining the Bernoulli equation with Poiseuille's
law. A real example which might help visualize the process is the pressure monitoring of the
flow through a constricted tube.

Bernoulli calculation

Go Back
HyperPhysics***** Mechanics ***** Fluids R Nave
 Index

Bernoulli Calculation Bernoulli

concepts
The calculation of the "real world" pressure in a constriction of a tube is difficult to do
because of viscous losses, turbulence, and the assumptions which must be made about the
velocity profile (which affect the calculated kinetic energy). The model calculation here
assumes laminar flow (no turbulence), assumes that the distance from the larger diameter to
the smaller is short enough that viscous losses can be neglected, and assumes that thevelocity
profile follows that of theoretical laminar flow. Specifically, this involves assuming that
the effective flow velocity is one half of the maximum velocity, and that the average kinetic
energy density is given by one third of the maximum kinetic energy density.

Now if you can swallow all those assumptions, you can model* the flow in a tube where the
volume flowrate is = cm3/s and the fluid density is = gm/cm3. For an inlet

tube area A1= cm2 (radius r1 = cm), the geometry of flow leads to an effective

fluid velocity of v1 = cm/s. Since the Bernoulli equation includes the fluid potential

energy as well, the height of the inlet tube is specified as h1 = cm. If the area of the

tube is constricted to A2= cm2 (radius r2 = cm), then without any further

assumptions the effective fluid velocity in the constriction must be v2 = cm/s. The

height of the constricted tube is specified as h2 = cm.

The kinetic energy densities at the two locations in the tube can now be calculated, and the
Bernoulli equation applied to constrain the process to conserve energy, thus giving a value for
the pressure in the constriction. First, specify a pressure in the inlet tube:
Inlet pressure = P1 = kPa = lb/in2 = mmHg = atmos.
The energy densities can now be calculated. The energy unit for the CGS units used is the erg.
Inlet tube energy densities Constricted tube energy densities
3
= erg/cm = erg/cm3
Kinetic energy density Kinetic energy density
= erg/cm3 = erg/cm3
Potential energy density Potential energy density
= erg/cm3 = erg/cm3
Pressure energy density Pressure energy density

The pressure energy density in the constricted tube can now be finally converted into more
conventional pressure units to see the effect of the constricted flow on the fluid pressure:

Calculated pressure in constriction =

P2= kPa = lb/in2 = mmHg = atmos.

This calculation can give some perspective on the energy involved in fluid flow, but it's
accuracy is always suspect because of the assumption of laminar flow. For typical inlet
conditions, the energy density associated with the pressure will be dominant on the input side;
after all, we live at the bottom of an atmospheric sea which contributes a large amount of
pressure energy. If a drastic enough reduction in radius is used to yield a pressure in the
constriction which is less than atmospheric pressure, there is almost certainly some turbulence
involved in the flow into that constriction. Nevertheless, the calculation can show why we can
get a significant amount of suction (pressure less than atmospheric) with an "aspirator" on a
high pressure faucet. These devices consist of a metal tube of reducing radius with a side tube
into the region of constricted radius for suction.

*Note: Some default values will be entered for some of the values as you start exploring the
calculation. All of them can be changed as a part of your calculation.

Go Back
HyperPhysics***** Mechanics ***** Fluids R Nave
 Curve of a Baseball
A non-spinning baseball or a stationary baseball in an airstream exhibits symmetric flow. A
baseball which is thrown with spin will curve because one side of the ball will experience a
reduced pressure. This is commonly interpreted as an application of the Bernoulli
principleand involves the viscosity of the air and the boundary layer of air at the surface of
the ball.

The roughness of the Index

ball's surface and the
laces on the ball are Bernoulli
important! With a Equation
perfectly smooth ball
you would not get Bernoulli
enough interaction concepts
with the air.
Reference
Watts and
Ferrer

There are some difficulties with this picture of the curving baseball. The Bernoulli equation
cannot really be used to predict the amount of curve of the ball; the flow of the air is
compressible, and you can't track the density changes to quantify the change in effective
pressure. The experimental work of Watts and Ferrer with baseballs in a wind tunnel suggests
another model which gives prominent attention to the spinning boundary layer of air around
the baseball. On the side of the ball where the boundary layer is moving in the same direction
as the free stream air speed, the boundary layer carries further around the ball before it
separates into turbulent flow. On the side where the boundary layer is opposed by the free
stream flow, it tends to separate prematurely. This gives a net deflection of the airstream in
one direction behind the ball, and therefore a Newton's 3rd law reaction force on the ball in
the opposite direction. This gives an effective force in the same direction indicated above.
Similar issues arise in the treatment of a spinning cylinder in an airstream, which has been
shown to experience lift. This is the subject of the Kutta-Joukowski theorem. It is also
invoked in the discussion of airfoil lift.

Go Back
HyperPhysics***** Mechanics ***** Fluids R Nave

Airfoil
The air across the top of a conventional airfoil experiences constricted flow lines and increased air speed
relative to the wing. This causes a decrease in pressure on the top according to the Bernoulli
equation and provides a lift force. Aerodynamicists (see Eastlake) use the Bernoulli model to correlate
with pressure measurements made in wind tunnels, and assert that when pressure measurements are
made at multiple locations around the airfoil and summed, they do agree reasonably with the observed
lift.
 Others appeal to a model based on Newton's laws and
assert that the main lift comes as a result of the angle
of attack. Part of the Newton's law model of part of
the lift force involves attachment of theboundary
layer of air on the top of the wing with a
resulting downwash of airbehind the wing. If the wing
gives the air a downward force, then by Newton's
third law, the wing experiences a force in the opposite
direction - a lift. While the "Bernoulli vs Newton"
debate continues, Eastlake's position is that they are
really equivalent, just different approaches to the
same physical phenonenon. NASA has a nice
aerodynamics site at which these issues are discussed.

Increasing the angle of attack gives a larger lift from

the upward component of pressure on the bottom of
the wing. The lift force can be considered to be
aNewton's 3rd law reaction force to the force exerted
downward on the air by the wing.

At too high an angle of attack, turbulent flow

Illustration of lift force increases the drag dramatically and will stall the
and angle of attack aircraft.
Bernoulli vs Newton
for airfoil lift
Airfoil terminology
A vapor trail over the wing helps visualize the air flow. Photo by Frank Starmer, used by permission.