Design, Modeling, and Experimental Verification of Passively Adaptable Roller Gripper for Separating Stacked Fabric

IF 4.6 2区计算机科学 Q2 ROBOTICS IEEE Robotics and Automation Letters Pub Date : 2024-09-13 DOI:10.1109/LRA.2024.3461550

Jayant Unde;Jacinto Colan;Yasuhisa Hasegawa

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Abstract

This letter presents a novel approach to fabric manipulation through the development and optimization of a single-actuator-driven roller gripper. Focused on addressing the challenges inherent in handling fabrics with diverse thicknesses and materials, our gripper employs a passive adaptable mechanism driven by springs, enabling effective manipulation of fabrics ranging from 0.1 mm to 2.25 mm in thickness. We analyze gripper-fabric interaction forces to identify the parameters that influence successful grasping. We then optimize the gripper's normal forces and the roller's tangential force using the proposed model. Systematic evaluations demonstrated the gripper's capability to separate individual layers from fabric stacks, achieving a 94.9% success rate across multiple fabric types. Overall, this research offers a compact, cost-effective solution with broad applicability in diverse industrial automation contexts, providing valuable insights for advancing robotic fabric handling systems.

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用于分离堆叠织物的被动适应性辊子抓手的设计、建模和实验验证

这封信介绍了一种通过开发和优化单执行器驱动的滚筒式机械手来操纵织物的新方法。为了应对在处理不同厚度和材料的织物时所面临的固有挑战，我们的机械手采用了由弹簧驱动的被动适应机制，能够有效地操纵厚度从 0.1 毫米到 2.25 毫米的织物。我们分析了机械手与织物的相互作用力，以确定影响成功抓取的参数。然后，我们利用提出的模型优化了抓手的法向力和滚筒的切向力。系统评估表明，该机械手能够从织物堆中分离出单层织物，在多种织物类型中的成功率达到 94.9%。总之，这项研究提供了一种结构紧凑、经济高效的解决方案，可广泛应用于各种工业自动化场合，为推进机器人织物处理系统的发展提供了宝贵的见解。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.