S. Ragunathan and L. Karunamoorthy
Robot, reconfigurable, gripper, fabrics, grasp
The design of special purpose grippers for handling limp materials in garment and textile industries is an interesting and emerging research area in “Robotics . Automation in these industries helps in achieving the target of quality standardization and process visibility. The most challenging problem in applying robotic automation in cloth manufacturing industries is the proper transportation of fabric materials. A reconfigurable robotic gripper based on pneumatic technology has been designed and developed for grasping the fabric materials. To grasp flexible and fabric materials, it is necessary to have several pickup points, whose location is selected on the basis of the shape of the part to be grasped; it is also necessary to have low overall flow drop in the pneumatic circuits. This paper presents the dynamic simulation and analysis of the reconfigurable gripper system using the simulation package ADAMS. The architecture of the gripper is simple and the choice of pneumatic actuators improves the reliability of the system.
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