Analysis and experimental investigation of the factors influencing the grasping of planar flaky deformation objects in a laid-out configuration

Abstract

This study endeavors to elucidate the salient factors that influence the efficacy of roller-based robotic manipulators in grasping multi-layered flaky deformation objects in a planar configuration. Through a rigorous force analysis of the grasping process, it was ascertained that the manipulation of flaky deformation objects is influenced by four forces. Subsequent analysis of the genesis of these forces enabled the identification of four pivotal factors: the applied downward pressure, the location of grasp, the number of stacked layers, and the coefficient of friction. To gain a comprehensive understanding of how these factors dictate the grasping efficacy, a series of meticulously designed experiments was conducted. The findings reveal that augmenting the coefficient of friction between the roller and fabric, intensifying the downward pressure, increasing the number of stacked layers, and opting for a grasp location proximal to the edge significantly bolster the success rate of grasping. These revelations hold the potential to furnish theoretical guidance for optimizing the grasping strategies of roller-based robotic manipulators under practical operational conditions.

Keywords

Automation fabrication materials measurement processing production testing

Get full access to this article

View all access options for this article.

References

Donaire

Borràs

Alenyà

, et al. A versatile gripper for cloth manipulation. IEEE Robot Autom Lett 2020; 5: 6520–6527.

Drigalski

Yoshioka

Yamazaki

, et al. Naist Openhand M2s: a versatile two-finger gripper adapted for pulling and tucking textile. In: 2017 first IEEE international conference on robotic computing (IRC), Taichung, Taiwan, 10–12 April 2017, pp. 117–122. NY: IEEE. doi: 10.1109/IRC.2017.55.

Koustoumpardis

PΝ

Smyrnis

Aspragathos

NΑ.

A 3-finger robotic gripper for grasping fabrics based on cams-followers mechanism. In: Ferraresi C and Quaglia G (eds) Advances in service and industrial robotics. Cham: Springer International Publishing, 2018, pp. 612–620.

Koustoumpardis

Nastos

Aspragathos

NA.

Underactuated 3-finger robotic gripper for grasping fabrics. In: 2014 23rd international conference on robotics in Alpe-Adria-Danube Region (RAAD), Smolenice, Slovakia, 3–5 September 2014, pp. 1–8. NY: IEEE. doi: 10.1109/RAAD.2014.7002271.

Huan

Ren

, et al. A versatile end effector for grabbing and spreading of flaky deformable object manipulation. Mech Sci 2023; 14: 111–123.

Ono

Kunikatsu

On better pushing for picking a piece of fabric from layers. In: 2007 IEEE international conference on robotics and biomimetics (ROBIO), Sanya, China, 15–18 December 2007, pp. 589–594. NY: IEEE. doi: 10.1109/ROBIO.2007.4522228.

Shen

Zhang

Grasping model of fabric cut pieces for robotic soft fingers. Text Res J 2021; 92: 2223–2238.

Shen

Lyu

Arrangement of soft fingers for automatic grasping of fabric pieces of garment. Text Res J 2021; 92: 143–159.

Manabe

Tong

Aiyama

Single sheet separation method from piled fabrics using roller hand mechanism. In: 2021 IEEE international conference on intelligence and safety for robotics (ISR), Tokoname, Japan, 4–6 March 2021, pp. 359–362. NY: IEEE. doi: 10.1109/ISR50024.2021.9419523.

10.

Yamazaki

Abe

A versatile end-effector for pick-and-release of fabric parts. IEEE Robot Autom Lett 2021; 6: 1431–1438.

11.

Awrejcewicz

Olejnik

Analysis of dynamic systems with various friction laws. Appl Mech Rev 2005; 58: 389–411.

12.

Carbone

Putignano

A novel methodology to predict sliding and rolling friction of viscoelastic materials: theory and experiments. J Mech Phys Solids 2013; 61: 1822–1834.