Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856225
Yuze Xu, Linxuan Zhang, Hui Li, M. Ge, Wanyi He
In this paper, the automatic order sorting problem with scattered storage is studied. First, the mathematical model of the problem is established. Then an improved crossover particle swarm optimization (CPSO) algorithm is proposed for order batching, batch sequencing and storage selection. The CPSO mainly conducts the position update of particle swarm optimization algorithm by using crossover, which makes it more suitable for discrete problems. In order to enhance the local search capability of the algorithm, a variable neighborhood search (VNS) algorithm is proposed. And the neighborhood structure of the automatic order sorting problem for scattered storage is defined. The VNS will further search the neighborhood of the global optimal solution after each operation of the CPSO position update. Finally, the effectiveness of the proposed CPSO is verified by numerical experiments.
{"title":"An improved crossover particle swarm optimization algorithm for automatic order sorting in distribution center","authors":"Yuze Xu, Linxuan Zhang, Hui Li, M. Ge, Wanyi He","doi":"10.1109/ICMA54519.2022.9856225","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856225","url":null,"abstract":"In this paper, the automatic order sorting problem with scattered storage is studied. First, the mathematical model of the problem is established. Then an improved crossover particle swarm optimization (CPSO) algorithm is proposed for order batching, batch sequencing and storage selection. The CPSO mainly conducts the position update of particle swarm optimization algorithm by using crossover, which makes it more suitable for discrete problems. In order to enhance the local search capability of the algorithm, a variable neighborhood search (VNS) algorithm is proposed. And the neighborhood structure of the automatic order sorting problem for scattered storage is defined. The VNS will further search the neighborhood of the global optimal solution after each operation of the CPSO position update. Finally, the effectiveness of the proposed CPSO is verified by numerical experiments.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127436164","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856387
Yinghong Hu, P. Song, Hong Zhong, Chun Li, Qing Guo
The model predictive control method of Modular multilevel converter (MMC) is studied, and the inner loop current controller is tuned. Simultaneously, combined with the vector control strategy of the voltage source converter (VSC), the designed inner and outer loop controller is applied to the MMC type DC transmission system. The time domain simulation results show that the potential trends of the AC output terminals of the two bridge arms of each phase of the MMC are consistent, which verifies the effectiveness of the proposed MMC model predictive control method.
{"title":"Model Predictive Control Technology of Modular Multilevel High Pressure Converter Valve","authors":"Yinghong Hu, P. Song, Hong Zhong, Chun Li, Qing Guo","doi":"10.1109/ICMA54519.2022.9856387","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856387","url":null,"abstract":"The model predictive control method of Modular multilevel converter (MMC) is studied, and the inner loop current controller is tuned. Simultaneously, combined with the vector control strategy of the voltage source converter (VSC), the designed inner and outer loop controller is applied to the MMC type DC transmission system. The time domain simulation results show that the potential trends of the AC output terminals of the two bridge arms of each phase of the MMC are consistent, which verifies the effectiveness of the proposed MMC model predictive control method.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127199395","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856369
Hao Ren, Zhichao Li, Qingyuan Wu, Dan Wu
Demanded in highly unstructured environment like surgery, rehabilitation and teleoperation, shared control architecture allows operators to retain abilities and priority to control a human-robot interaction system (HRI), in which the robot provides stiffness and precision, and the human operator decides tactical maneuvering like obstacle avoidance and emergency takeover. By estimating haptic intention of human and adaptively restraining the operation force in unexpected direction, the adaptive shared control law is desired to continuously switch the lead priority to either the human or the robot. An adaptive admittance control strategy is thus developed based on the guidance virtual fixture (VF) /active constraint to promote the operation performance in collaborative tasks. By synthesizing adaptive admittance control and virtual fixture guidance, this comes true that the human operator’s intention and predefined guidance trajectory are combined in shared control. Both theoretical analysis and simulation results validate that the proposed control strategy has potential to provide stability and flexibility in the specific tasks for the HRI system.
{"title":"Guidance Priority Adaptation in Human-Robot Shared Control","authors":"Hao Ren, Zhichao Li, Qingyuan Wu, Dan Wu","doi":"10.1109/ICMA54519.2022.9856369","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856369","url":null,"abstract":"Demanded in highly unstructured environment like surgery, rehabilitation and teleoperation, shared control architecture allows operators to retain abilities and priority to control a human-robot interaction system (HRI), in which the robot provides stiffness and precision, and the human operator decides tactical maneuvering like obstacle avoidance and emergency takeover. By estimating haptic intention of human and adaptively restraining the operation force in unexpected direction, the adaptive shared control law is desired to continuously switch the lead priority to either the human or the robot. An adaptive admittance control strategy is thus developed based on the guidance virtual fixture (VF) /active constraint to promote the operation performance in collaborative tasks. By synthesizing adaptive admittance control and virtual fixture guidance, this comes true that the human operator’s intention and predefined guidance trajectory are combined in shared control. Both theoretical analysis and simulation results validate that the proposed control strategy has potential to provide stability and flexibility in the specific tasks for the HRI system.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130205941","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856263
Liang Liu, Chenyang Shi, Hengyi Zou, Hui Song
The application of lightweight material jointing is popular for aircraft and automotive industry due to fuel economy. In order to ensure the quality of the body riveting, it is essential to develop a nondestructive testing (NDT) method to identify the internal riveting defects. The paper presents a diagnosis algorithm for internal riveting faults by improved Gaussian convolutional deep belief network (CDBN). Firstly, the feature extraction method is proposed to process the detection data collected from the eddy current sensor to improve the efficiency of data analysis. Secondly, Gaussian visible units are used to replace the binary visible units of the network model to enhance the feature representation ability. Finally, the multi-layer feature fusion method is employed to improve the feature learning ability of each layer of the model. The algorithm is applied to the detection of riveting internal faults. The experimental results reflect that the algorithm can effectively improve the recognition rate of riveting faults compared with the methods based on DBN, standard CDBN and convolutional neural network.
{"title":"Internal Fault Diagnosis of Riveted Aluminum Alloy Plates Based on Gaussian CDBN with Multi-layer Feature Fusion","authors":"Liang Liu, Chenyang Shi, Hengyi Zou, Hui Song","doi":"10.1109/ICMA54519.2022.9856263","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856263","url":null,"abstract":"The application of lightweight material jointing is popular for aircraft and automotive industry due to fuel economy. In order to ensure the quality of the body riveting, it is essential to develop a nondestructive testing (NDT) method to identify the internal riveting defects. The paper presents a diagnosis algorithm for internal riveting faults by improved Gaussian convolutional deep belief network (CDBN). Firstly, the feature extraction method is proposed to process the detection data collected from the eddy current sensor to improve the efficiency of data analysis. Secondly, Gaussian visible units are used to replace the binary visible units of the network model to enhance the feature representation ability. Finally, the multi-layer feature fusion method is employed to improve the feature learning ability of each layer of the model. The algorithm is applied to the detection of riveting internal faults. The experimental results reflect that the algorithm can effectively improve the recognition rate of riveting faults compared with the methods based on DBN, standard CDBN and convolutional neural network.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121454690","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9855984
Yuchao Wang, Jingdong Li, Zixiang Tia, Zeming Chen, Huixuan Fu
As an important part of ship intelligent navigation, improving the speed and accuracy of target detection can ensure the safe navigation of ships. Aiming at the low accuracy of ship target detection, an improved YOLOX_s network ship target detection algorithm is proposed. First, the Spatial Attention Module (SAM) is integrated into the YOLOX_s backbone network to focus on the target to be detected from the spatial dimension and improve the detection accuracy. Then, the Focal Loss loss function is used to replace the traditional BCE Loss loss function, which effectively alleviates the problem of unbalanced positive and negative samples of the single-stage target detector. The experimental results show that the detection accuracy of the improved YOLOX_s algorithm is 3.50% higher than the original algorithm, and the detection speed is only 1. 62ms lower. Without significantly reducing the detection speed, the ship target detection accuracy is effectively improved, which proves the effectiveness of the improved YOLOX_s algorithm.
{"title":"Ship Target Detection Algorithm Based on Improved YOLOX_s","authors":"Yuchao Wang, Jingdong Li, Zixiang Tia, Zeming Chen, Huixuan Fu","doi":"10.1109/ICMA54519.2022.9855984","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9855984","url":null,"abstract":"As an important part of ship intelligent navigation, improving the speed and accuracy of target detection can ensure the safe navigation of ships. Aiming at the low accuracy of ship target detection, an improved YOLOX_s network ship target detection algorithm is proposed. First, the Spatial Attention Module (SAM) is integrated into the YOLOX_s backbone network to focus on the target to be detected from the spatial dimension and improve the detection accuracy. Then, the Focal Loss loss function is used to replace the traditional BCE Loss loss function, which effectively alleviates the problem of unbalanced positive and negative samples of the single-stage target detector. The experimental results show that the detection accuracy of the improved YOLOX_s algorithm is 3.50% higher than the original algorithm, and the detection speed is only 1. 62ms lower. Without significantly reducing the detection speed, the ship target detection accuracy is effectively improved, which proves the effectiveness of the improved YOLOX_s algorithm.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126680833","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
General quality characteristic is a key parameter reflecting the operation quality of a ship power system. The analysis of the generation mode of the general quality characteristic is an effective mean to improve the comprehensive performance of the ship power system. In this paper, firstly, 6 main factors and 18 sub-factors of the general quality characteristic are given for the ship power system. Secondly, the quantitative assessment models of the main factor and the sub-factors are established based on fuzzy mathematics theory. Thirdly, the dynamic characteristics between the influencing factors and between the main factors and the general quality characteristic are analyzed based on Markov stochastic process model. Finally, the calculation results show that increasing a certain main factor by 10% can improve the general quality characteristic of the ship power system by 3% to 4%. However, the sensitivity of the general quality characteristic to the main factors varies. Improving the maintainability and environmental worthiness of ship power system is an effective method to improve its general quality characteristic.
{"title":"Generation Mode Analysis of General Quality Characteristic of Ship Power System","authors":"Peng Shang, Yanhua Sun, Tongtong Peng, Yuan Lin, Zechong Liu, Nieyong Huang, Jian Zhou","doi":"10.1109/ICMA54519.2022.9856142","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856142","url":null,"abstract":"General quality characteristic is a key parameter reflecting the operation quality of a ship power system. The analysis of the generation mode of the general quality characteristic is an effective mean to improve the comprehensive performance of the ship power system. In this paper, firstly, 6 main factors and 18 sub-factors of the general quality characteristic are given for the ship power system. Secondly, the quantitative assessment models of the main factor and the sub-factors are established based on fuzzy mathematics theory. Thirdly, the dynamic characteristics between the influencing factors and between the main factors and the general quality characteristic are analyzed based on Markov stochastic process model. Finally, the calculation results show that increasing a certain main factor by 10% can improve the general quality characteristic of the ship power system by 3% to 4%. However, the sensitivity of the general quality characteristic to the main factors varies. Improving the maintainability and environmental worthiness of ship power system is an effective method to improve its general quality characteristic.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121110444","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856237
Linnan Ding, Fuguang Wang, Jihong Yan, Jie Zhao
Inspired by natural flapping wing creatures, such as hummingbird, micro flapping-wing robot has a broad application prospect due to their advantages of light weight and high flexibility. Lift is the key to its performance. However, as the mechanism by which real wings generate lift is not completely clear, artificial wings do not perform as well as real wings. In this paper, a hummbrid-like robot is designed, and a comprehensive experimental method is adopted to analyze the influence of wing shape, size and stiffness on lift. The results indicate that the optimal airfoil is pentagon, with wing area of 2050 mm2 and an aspect ratio of 9.3, and the lift is improved by 24.7% compared with that before optimization. Finally, the performance of the wing was demonstrated by a 14.6 g flapping wing robot flying test.
{"title":"Experimental optimization of wing lift for a hummingbird-like micro flapping-wing robot","authors":"Linnan Ding, Fuguang Wang, Jihong Yan, Jie Zhao","doi":"10.1109/ICMA54519.2022.9856237","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856237","url":null,"abstract":"Inspired by natural flapping wing creatures, such as hummingbird, micro flapping-wing robot has a broad application prospect due to their advantages of light weight and high flexibility. Lift is the key to its performance. However, as the mechanism by which real wings generate lift is not completely clear, artificial wings do not perform as well as real wings. In this paper, a hummbrid-like robot is designed, and a comprehensive experimental method is adopted to analyze the influence of wing shape, size and stiffness on lift. The results indicate that the optimal airfoil is pentagon, with wing area of 2050 mm2 and an aspect ratio of 9.3, and the lift is improved by 24.7% compared with that before optimization. Finally, the performance of the wing was demonstrated by a 14.6 g flapping wing robot flying test.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116110456","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In order to study the bifurcation mechanism of parameter changes affecting the voltage stability of the system in the doubly fed wind turbine system, based on the 3-node simple power system, taking the reactive power as the bifurcation control parameter, the local continuation method is used to pursue the popularity of the equilibrium solution of the system. The location and type of bifurcation point can be known through the popularity curve of the equilibrium solution. On this basis, combined with the time domain diagram The phase diagram and Jacobian matrix eigenvalue trajectory diagram analyze the dynamic process of the system from stability to instability, reveal the structural change of the solution and the essential reason of voltage stability caused by the change of bifurcation parameters, and analyze the influence of different types of bifurcation points as the initial operating points and different disturbances on the voltage collapse of the system, Finally, the system is analyzed by adding washout filter. The results show that there are saddle node bifurcation, Hopf bifurcation and homoclinic bifurcation in the system, which can lead to the collapse of system voltage, and the addition of washout filter can eliminate the bifurcation point and improve the voltage stability margin of the system.
{"title":"Research and improvement of voltage stability of grid connected system with doubly fed wind turbine","authors":"Wenzhao Duan, Zhiqiang Gao, Xuesong Zhou, Xiu-hua Zhang","doi":"10.1109/ICMA54519.2022.9856062","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856062","url":null,"abstract":"In order to study the bifurcation mechanism of parameter changes affecting the voltage stability of the system in the doubly fed wind turbine system, based on the 3-node simple power system, taking the reactive power as the bifurcation control parameter, the local continuation method is used to pursue the popularity of the equilibrium solution of the system. The location and type of bifurcation point can be known through the popularity curve of the equilibrium solution. On this basis, combined with the time domain diagram The phase diagram and Jacobian matrix eigenvalue trajectory diagram analyze the dynamic process of the system from stability to instability, reveal the structural change of the solution and the essential reason of voltage stability caused by the change of bifurcation parameters, and analyze the influence of different types of bifurcation points as the initial operating points and different disturbances on the voltage collapse of the system, Finally, the system is analyzed by adding washout filter. The results show that there are saddle node bifurcation, Hopf bifurcation and homoclinic bifurcation in the system, which can lead to the collapse of system voltage, and the addition of washout filter can eliminate the bifurcation point and improve the voltage stability margin of the system.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115254849","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2022-08-07DOI: 10.1109/ICMA54519.2022.9856234
Zhenyong Xu, Haipeng Geng
The research in this paper focuses on the core loss and rotor eddy current loss of high speed permanent magnet synchronous motor. The influence of stator outer diameter on core loss is analyzed. The effects of air gap width, slot width and jacket on rotor eddy current loss are studied. The winding copper loss and air friction loss are calculated and qualitatively analyzed, and the effects of rotor speed, air gap width, temperature and axial wind speed on air friction loss on rotor surface are analyzed. Finally, the loss distribution data are summarized, which provides a reference basis for motor thermal design.
{"title":"Loss Analysis of High Speed Permanent Magnet Synchronous Motor","authors":"Zhenyong Xu, Haipeng Geng","doi":"10.1109/ICMA54519.2022.9856234","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856234","url":null,"abstract":"The research in this paper focuses on the core loss and rotor eddy current loss of high speed permanent magnet synchronous motor. The influence of stator outer diameter on core loss is analyzed. The effects of air gap width, slot width and jacket on rotor eddy current loss are studied. The winding copper loss and air friction loss are calculated and qualitatively analyzed, and the effects of rotor speed, air gap width, temperature and axial wind speed on air friction loss on rotor surface are analyzed. Finally, the loss distribution data are summarized, which provides a reference basis for motor thermal design.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115297626","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
In this study, we focus on pinch and slide unfolding, an effective method for unfolding clothes. However, pinch and slide unfolding exhibits its drawbacks. For instance, when a cloth is unfolded, gravity pulls it downward, causing the cloth to fall through the gap between the fingers. Hence, this paper proposes a novel end-effector used for cloth manipulation to improve the success rate of unfolding. Our approach demonstrates two main characteristics: (1) By devising an appropriate finger shape and gripping motion, the hem of clothes can be prevented from being pinched in a bent state; (2) A protrusion is attached to the finger pad that can be passively rotated by a bearing, enabling continuous capturing of minute irregularities on the hem of clothes during pinch and slide unfolding. The proposed end-effector was constructed and attached to a robot arm. The end-effector’s effectiveness was confirmed through experiments of unfolding squared cloth sheets.
{"title":"An End-Effector for Pinch and Slide Unfolding Using a Protruding Passive Rotation Mechanism","authors":"Shunji Fujihara, Kimitoshi Yamazaki, Tetsuyou Watanabe","doi":"10.1109/ICMA54519.2022.9856216","DOIUrl":"https://doi.org/10.1109/ICMA54519.2022.9856216","url":null,"abstract":"In this study, we focus on pinch and slide unfolding, an effective method for unfolding clothes. However, pinch and slide unfolding exhibits its drawbacks. For instance, when a cloth is unfolded, gravity pulls it downward, causing the cloth to fall through the gap between the fingers. Hence, this paper proposes a novel end-effector used for cloth manipulation to improve the success rate of unfolding. Our approach demonstrates two main characteristics: (1) By devising an appropriate finger shape and gripping motion, the hem of clothes can be prevented from being pinched in a bent state; (2) A protrusion is attached to the finger pad that can be passively rotated by a bearing, enabling continuous capturing of minute irregularities on the hem of clothes during pinch and slide unfolding. The proposed end-effector was constructed and attached to a robot arm. The end-effector’s effectiveness was confirmed through experiments of unfolding squared cloth sheets.","PeriodicalId":120073,"journal":{"name":"2022 IEEE International Conference on Mechatronics and Automation (ICMA)","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2022-08-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123856097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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