This paper reports ongoing work on the design of a new gripper for garments handling. The development of this device is part of the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. First, we analyze the specificity of the application determining the requirements for the design and functioning of the grasping system. Textiles do not have a stable shape and cannot be manipulated on the basis of a priori geometric knowledge. The necessary exploration of the material and the environment is performed with the help of tactile sensors embedded in the fingertips of the gripper, complementing the vision system of the robotic work cell. The chosen design solution is a simple mechanism able to perform adequately the grasping task and to permit exploratory finger motions. The kinematics and statics of the mechanism are outlined briefly and, in accord with initial experiments, used to validate the design.
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ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 4–7, 2013
Portland, Oregon, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-5594-2
PROCEEDINGS PAPER
Development and Analysis of a New Specialized Gripper Mechanism for Garment Handling
Matteo Zoppi,
Matteo Zoppi
University of Genoa, Genoa, Italy
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Michal Jilich,
Michal Jilich
University of Genoa, Genoa, Italy
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Raffaello Camoriano,
Raffaello Camoriano
University of Genoa, Genoa, Italy
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Dimiter Zlatanov,
Dimiter Zlatanov
University of Genoa, Genoa, Italy
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Rezia Molfino
Rezia Molfino
University of Genoa, Genoa, Italy
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Loan Le
University of Genoa, Genoa, Italy
Matteo Zoppi
University of Genoa, Genoa, Italy
Michal Jilich
University of Genoa, Genoa, Italy
Raffaello Camoriano
University of Genoa, Genoa, Italy
Dimiter Zlatanov
University of Genoa, Genoa, Italy
Rezia Molfino
University of Genoa, Genoa, Italy
Paper No:
DETC2013-13150, V06BT07A013; 10 pages
Published Online:
February 12, 2014
Citation
Le, L, Zoppi, M, Jilich, M, Camoriano, R, Zlatanov, D, & Molfino, R. "Development and Analysis of a New Specialized Gripper Mechanism for Garment Handling." Proceedings of the ASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6B: 37th Mechanisms and Robotics Conference. Portland, Oregon, USA. August 4–7, 2013. V06BT07A013. ASME. https://doi.org/10.1115/DETC2013-13150
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