Robot end effector based on electrostatic adsorption for manipulating garment fabrics

Abstract

To improve the effectiveness of industrial robots in the textile and garment industry, it is necessary to expand the application range of electrostatic adsorption end effectors and solve the problem of automatically grasping and transferring fabrics during garment processing. Taking weft-knit fabric as an example, this paper begins by analyzing the factors that influence the electrostatic adsorption capacity, and then constructing an electrostatic adsorption capacity model based on the fabric characteristics. Next, the shape arrangement and structural parameters of the electrode plate are optimized by taking the electrostatic adsorption force model and maximizing the adsorption force per unit area. Finally, the adsorption effect of the electrostatic adsorption end effector is verified by simulation and experiment. The verification results show that the electrode with a comb-shaped arrangement and optimized structural parameters can adsorb clothing fabric well and meets the requirements of clothing automated production lines. This study provides a new method for solving the problem of automatically grasping and transferring fabrics and provides technical support for improving automation in the garment industry.

Keywords

Weft-knitting fabric modeling electrostatic adsorption fabric grasping electrode optimization electrostatic force

Get full access to this article

View all access options for this article.

References

Moriya

Tanaka

Yamazaki

, et al. A method of picking up a folded fabric product by a single-armed robot. Robomech J 2018; 5: 1–12.

Demura

Sano

Nakajima

, et al. Picking up one of the folded and stacked towels by a single arm robot. In: Tong Liang (ed.) IEEE international conference on robotics and biomimetics (ROBIO), Kuala Lumpur, Malaysia, 12–15 December 2018. IEEE. pp.1551–1556. DOI:10.1109/ROBIO.2018.8665040.

Cubric

Salopek

CI.

Study of grippers in automatic handling of nonwoven material. J Inst Eng (India) Series E 2019; 100: 167–173.

Jincheng

QU.

A cloth grabber device. CN209009611U, China, 2019.

Saito

Soda

Dhelika

, et al . Compliant electrostatic chuck based on hairy microstructure. Smart Mater Struct 2013; 22: 15–19.

Monkman

GJ.

An analysis of astrictive prehension. Int J Robot Res 1997; 16: 1–10.

Yamamoto

Nakashima

Higuchi

Wall climbing mechanisms using electrostatic attraction generated by flexible electrodes. In: P. Dario (ed.) IEEE international symposium on micro-nanomechatronics & human science, Nagoya, Japan, 11–14 November, 2007. IEEE., pp.389–394. DOI: 10.1109/MHS.2007.4420886.

Guo

Dai

Cui

GC.

A wall climbing robot based on the improved electro adhesion technology. Appl Mech Mater 2013; 328: 56–61.

Ruffatto

, Shah J and Spenko M. Optimization and experimental validation of electrostatic adhesive geometry. In: Tao Zhang (ed.) IEEE aerospace conference proceedings, Big Sky, MT, USA, 02–09 March 2013. IEEE. pp.1–8. DOI:10.1109/aero.2013.6496943.

10.

Kilic

Oruc

Demir

Effects of polarity on electrospinning process. Text Res J 2008; 78: 532–539.

11.

Wang J Li

B. Computer three- dimensional simulation of the basic structure of weft knitted fabrics. J Text Res (Beijing, China) 2009; 30: 136–140.

12.

Goktepe

Harlock

SC.

Three-dimensional computer modeling of warp knitted structures. Text Res J 2002; 72: 266–272.

13.

Song

Three-dimensional simulation of weft knitted fabric in computer. J Donghua Univ Nat Sci Ed 2011; 37: 210–214.

14.

Kurbak

Models for basic warp knitted fabrics Part I: chain stitches and their applications on marquisette and weft-inserted warp-knitted fabrics. Text Res J 2019; 89: 1863–1885.

15.

Boor

DC.

On calculation with B-Splines. J Approx Theor 1972; 6: 50–62.

16.

Sha

Chapman

LP.

Three-dimensional modeling and simulation of deformation behavior of fancy weft knitted stitch fabric. Text Res J 2017; 87: 1742–1751.

17.

Cheng

Principles of electrical engineering, Part 2: electric field magnetic field electromagnetic relationship. Beijing: Longmen Union Bookstore, 1952, pp.26–31.

18.

Liu

Discussion on the vacuum permittivity in the international system of units (SI). J Xi'an Jiaotong Univ (Xi'an, China) 1980; 21: 141–145.

19.

Loss

Goncalves

Pinho

, et al. XZ Influence of some structural parameters on the dielectric behavior of materials for textile antennas. Text Res J 2019; 89: 1131–1143.

20.

Textile materials science. 2nd ed. Beijing: China Textile Press, 2018, pp.15–21.

21.

Ruffatto

Parness

Spenko

Improving controllable adhesion on both rough and smooth surfaces with a hybrid electrostatic/gecko-like adhesive. J R Soc Interface 2014; 11: 20131089.