## 4 Conclusions  
The paper presents the results of theoretical studies and uses the finite element method for determining the distribution of pressure on the surface of an object of manipulation, which allow one to determine the lifting force of a Bernoulli gripping devices, as follows:  
* For the most common designs of air supply to the chamber of the gripping device, which are perpendicular to the fastening of gripping and horizontal to the fastening,  
Figure 16: Effects of fitting diameters and constrictions on BGD flow and power characteristics at different conical insert radii. Figure 15: Effects of fitting diameters and constrictions on BGD flow and power characteristics at different conical insert radii. finite element modeling in CFD was carried out. The adequacy of the obtained research results from the use the finite element method, namely, to the deviation of the theoretical results, which does not exceed 2%. It was determined that the theoretical method of research allows for the determination that only the influence of air pressure during air supply to the gripping device chamber affects its power characteristics. Therefore, it was further determined by the CFD finite element method that horizontal air supply to the gripping chamber should be used to provide the maximum possible lifting force. The constructed characteristic of the effect of the manipulation object gripping distance on its lifting force applies to both air supply structures. * Structures and constriction in fittings are considered, which are used to supply compressed air to the chambers of Bernoulli gripping devices. Dependencies of the type of influence of the fittings narrowing on the power characteristics of the gripping devices are displayed. It was revealed that the difference in the lifting force of a Bernoulli gripping device that depends on the geometry of the fitting constriction is due to the pressure jump opposite the nozzle from the side of the compressed air supply, and for a supply pressure of 300 kPa, it affects the attraction force by only 0.05 N. Therefore, the design of the fittings from 8 mm to the diameter of the constriction was chosen in further studies. * For the most common diameters, the constrictions of the fittings at 2.5, 4, 5, 6, 7, and 8 mm shows the distribution of the lifting force at different supply pressures. It has been found that when the inlet diameter of the fitting decreases, the inlet air flow is throttled, which limits the compressed air flow rate of the gripping device and can reduce the lifting force by 55%. For a comprehensive study of the impact of consumption and power characteristics, the C-factor was used, and it was established that it is rational to use fittings with an internal diameter of 5 to 6 mm at a supply pressure of 200 to 300 kPa, and for 7 to 8 mm, a supply pressure of 100 and 400 to 500 kPa is used. * It was revealed that the flow characteristics clearly correlate with the power characteristics at a different radius of the conical grip insert. In particular, it has been found that as the diameter of fitting constriction increases, the lifting force and flow rate increase throughout the study area. However, in the range of the inside diameter of the fitting of 6 to 8 mm, the lifting force remains practically unchanged with an increase in the flow rate of compressed air for the radii of the conical insert of the grip of 15 and 20 mm, and with a radius of the conical insert of the grip of 10 mm, the lifting force increases uniformly with increasing flow rate. To study the most effective radius of a conical insert, the C-factor was output at various input parameters, according to which, it was determined that the grip with a radius of the conical insert of 20 mm spends less energy to lift one kilogram of net weight.