Sage Journals: Discover world-class research

Abstract

In order to progress the research on automatic separation of fabric pieces from a cutting pile during the garment manufacture, a summary of the methods of grasping was made. Next, the process of cut garment pieces grasping by soft fingers was defined, and the mechanical model was analyzed in detail. After that a grasping experiment by soft fingers was carried out. The experiment results show that the parameters of a soft finger (positive pressure, opening distance) and the parameters of the fabric (grams per square meter, thickness, friction coefficient, stiffness) have great influence on the grasping effect. Furthermore, a grasping model was proposed. Finally, a test experiment was implemented to verify the applicability of the model proposed. This paper mainly contributed a bridge between the parameters of fabrics and the parameters of soft fingers which can help greatly to select or to design a suitable soft finger according to the properties of a fabric accurately and quickly. In addition, the grasping model of fabric pieces of garment by using robotic soft fingers was found to have a good potential applicability in the field of smart manufacture of garment in the near future.

Keywords

Soft material smart manufacture of garment soft robots grasping model of apparel pieces

Get full access to this article

View all access options for this article.

References

Roblek

Mesko

Krapez

A complex view of industry 4.0. Sage Open 2016; 6: 1–11.

Cheng

Liu

Qiang

, et al. Industry 4.0 development and application of intelligent manufacturing. In: IEEE 2016 international conference on Information System and Artificial Intelligence (ISAI). Hong Kong, China, 24–26 June 2016, paper no. INSPEC 16615353, pp. 407–410. Piscataway: IEEE.

Cheng

Keynote presentation—2: Smart tooling, smart machines and smart manufacturing: working towards the Industry 4.0 and beyond. In: IEEE 2015 21st international conference on Automation and Computing (ICAC). Glasgow, UK, 11–12 Sept 2015, paper no. INSPEC 15572208, pp.1–1. Piscataway: IEEE.

Ragunathan

Karunamoorthy

Modeling and dynamic analysis of reconfigurable robotic gripper system for handling fabric materials in garment industries. J Adv Manuf Syst 2006; 5: 233–254.

Kolluru

Valavanis

Hebert

TM.

Modeling, analysis, and performance evaluation of a robotic gripper system for limp material handling.

IEEE Trans Syst Man Cybern B 1998; 28: 480–486.

Cubric

Nikolic

Signjar

Catching the woven fabric with vacuum gripper. DAAAM Intl Vie 2012; 23: 465–468.

Kordi

Husing

Corves

Development of a multifunctional robot end-effector system for automated manufacture of textile preforms. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Zurich, Switzerland, 4–7 Sept 2007, paper no. INSPEC 9826430, pp.1–6. Piscataway: IEEE.

Taylor

PM.

Presentation and gripping of flexible materials. Assem Autom 1995; 15: 33–35.

Monkman

Shimmin

Permatack adhesives for robot grippers. Assem Autom 1991; 11: 17–19.

10.

Gunther

Frank

Textile de-stacking with a freezing gripper. In: ICFDM proceedings of the 5th international conference on frontiers of design and manufacturing, Dalian, China, 10–12 July 2002, pp.478–485. China: ICFDM.

11.

Porat

Grosberg

Moghaddassi

MN.

Fabric pickup device. Patent 4679784, USA, 1987.

12.

Guichard

Device for the displacement and alignment of pieces of flexible material in sheet form. Patent 3712612A, USA, 1973.

13.

Fort

Device for picking up, transferring and turning a textile web. Patent 4583727, USA, 1986.

14.

Koustoumpardis

Nastos

Aspragathos

NA.

Underactuated 3-finger robotic gripper for grasping fabrics. In: International conference on robotics in Alpe-adria-danube region. Smolenice, Slovakia, 3–5 Sept 2014, paper no. INSPEC 14841385, pp.1–8. Piscataway: IEEE.

15.

Zongxing

Wanxin

Liping

Research development of soft manipulator: a review. Adv Mech Eng 2020; 12: 1–12.

16.

Haitao

Xifeng

Benmu

Advances in software robot research. J South China Normal Univ Natur Sci Ed 2020; 48: 94–106.

17.

Myeong

Kim

, et al. Delicate fabric handling using a soft robotic gripper with embedded microneedles. IEEE Robot Autom Lett. Epub ahead of print June 2020. doi: 10.1109/LRA.2020.3004327

18.

Suzhou Rochu Robotics Co. Ltd. Fabric picking grippers, https://en.rochu.com (2017, accessed 10 July 2019).

19.

Kuhm

Bueno

Knittel

Fabric friction behavior: study using capstan equation and introduction into a fabric transport simulator. Text Res J 2014; 84: 1070–1083.

20.

Becerir

Akgun

Alpay

HR.

Effect of some yarn properties on surface roughness and friction behavior of woven structures. Text Res J 2016; 86: 975–989.

21.

Lin

Taylor

Bull

SJ.

An experimental study of the factors affecting the indentation of fabric under a pinch gripper. Int J Cloth Sci Tech 2005; 17: 320–334.

22.

ISO 5084:1996. Textiles—determination of thickness of textiles and textile products.

23.

ISO 9073-7:1995. Textiles—test methods for nonwovens part 7: determination of bending length, MOI.

24.

ISO 8295:1995. Plastics—film and sheeting-determination of the coefficients of friction.

25.

Gupta

. Friction in textile materials. 1st ed. England: Woodhead Pub, Boca Raton: CRC Press, 2008, pp.1–135.

26.

Kragelsky

Alisin

VV.

Friction, wear, lubrication: tribology handbook. 1st ed. Moscow: Mir Publishers; Oxford and New York: Pergamon Press, 1981, pp.1–78.

27.

Van Amber

Lowe

Niven

, et al. The effect of fiber type, yarn structure and fabric structure on the frictional characteristics of sock fabrics. Text Res J 2015; 85: 115–127.

28.

Abbott

NJ.

The measurement of stiffness in textile fabrics. Text Res J 1951; 21: 435–441.

29.

Sun

Chen

, et al. Multivariate analysis of curve parameters to predict fabric stiffness handle from a pulling-out test. Text Res J 2018; 88: 863–872.

Grasping model of fabric cut pieces for robotic soft fingers

Abstract

Keywords

Get full access to this article

References