Gripping Device for Textile Materials

Abstract

During manufacturing processes, there are often tasks of manipulating flexible objects with a displaced center of mass. An important issue is the analysis of problems that arise when designing and modeling pneumatic grippers in robotic cells. We established the main directions for solving the problems of manipulating flexible objects with a shifted center of mass for various types of grippers.

Finite element modeling of grasping porous materials in robotics cells

“…To check the adequacy and calibration of the developed model, experimental studies of the device for grasping flexible and porous objects were conducted using the method proposed by the authors in the article [28]. This method involves determining the grasping force for each type of material that will be used as the manipulated object (Fig.…”

“…2).

Figure 2. Experimental configuration for determining the grasping force for flexible and porous objects of manipulation [28] (1 – gripper body, 2 – fitting, 3 – housing, 8 – connector, 9 – textile material, 10 – bottom board attached to scales, 11 – the top plate fastening textiles to the bottom plate, 12 – the chamber of the gripping device, 13 – an annular nozzle of the gripper, 14 – devacuumation openings, and 15 – threaded connection of the holder and the case of the gripper).

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“…However, the modeling of grippers for flexible materials with pores, such as textiles, has not been addressed. The authors of the article [28] proposed a gripping device for flexible and porous objects, based on the BGD (Fig. 1).…”

“…It has become a widespread practice to model and investigate the process of gripping flexible objects using mechanical gripping devices [1, 8, 27]. However, an article [28] states that certain jet grippers, such as the one described in the article, make it much easier to handle flexible objects, particularly textiles. This ease is attributed to the ability of these grippers to grip objects from a distance and in various orientations.…”

“…1).

Figure 1. Gripper design for flexible and porous objects [28] (1 – housing, 2 – fitting, 3 – compressed pressure supply hose, 4 – conical insert, 5 – holder, 6 – anti-vibration insert, and 7 – anti-vibration mounting bolts).

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