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Modelling the indentation of fabric by differently shaped pinch grippers

Modelling the indentation of fabric by differently shaped pinch grippers Several pick‐up devices have been proposed and invented for automated garment handling but a scientific understanding of picking up operation is incomplete. This paper is an extension of earlier studies into modelling the interaction of the performance of pinch gripper and the properties of flexible material (foam). Here, the relationship between the performance of pinch gripper (size and shape), external load, deformation and the properties fabric is investigated. The distributions of stress and strain within a fabric under differently shaped grippers (flat and curved) are revealed. The main factors affecting the first step of picking up action‐two pegs pushing down on the top of fabric are identified. Experiments have been carried out on single‐ and multi‐layer fabrics, and the accuracy of the models is demonstrated through comparison of the predicted results with the experimental data. This study is aimed towards optimisation of design of a gripper and providing knowledge for an intelligent grasping system of fabric handling. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Clothing Science and Technology Emerald Publishing

Modelling the indentation of fabric by differently shaped pinch grippers

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Publisher
Emerald Publishing
Copyright
Copyright © 2004 Emerald Group Publishing Limited. All rights reserved.
ISSN
0955-6222
DOI
10.1108/09556220410538956
Publisher site
See Article on Publisher Site

Abstract

Several pick‐up devices have been proposed and invented for automated garment handling but a scientific understanding of picking up operation is incomplete. This paper is an extension of earlier studies into modelling the interaction of the performance of pinch gripper and the properties of flexible material (foam). Here, the relationship between the performance of pinch gripper (size and shape), external load, deformation and the properties fabric is investigated. The distributions of stress and strain within a fabric under differently shaped grippers (flat and curved) are revealed. The main factors affecting the first step of picking up action‐two pegs pushing down on the top of fabric are identified. Experiments have been carried out on single‐ and multi‐layer fabrics, and the accuracy of the models is demonstrated through comparison of the predicted results with the experimental data. This study is aimed towards optimisation of design of a gripper and providing knowledge for an intelligent grasping system of fabric handling.

Journal

International Journal of Clothing Science and TechnologyEmerald Publishing

Published: Aug 1, 2004

Keywords: Mathematical modelling; Textiles; Automation; Materials handling equipment

References

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