The paper describes a novel robot gripper for garment handling. The device has been designed, developed, prototyped, and tested within the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. The gripper has two degrees of freedom and includes both rigid and flexible elements. A variable-stiffness actuator has been implemented to add controlled compliance in the gripper’s operation allowing the combining of various grasping and manipulation tasks. First, we analyze the specific application-determined task requirements, focusing on the need for adaptive flexibility and the role of compliant elements in the design. The chosen solution is a simple planar mechanism, equipped with one standard and one variable-stiffness actuator. The mechanical design of the gripper, including the hydraulic system used in the biphasic actuator, is outlined, and the control architecture, using sensor feedback, is described.
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ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 17–20, 2014
Buffalo, New York, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-4637-7
PROCEEDINGS PAPER
Application of a Biphasic Actuator in the Design of a Robot Gripper 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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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
Han Bo
University of Genoa, Genoa, Italy
Dimiter Zlatanov
University of Genoa, Genoa, Italy
Rezia Molfino
University of Genoa, Genoa, Italy
Paper No:
DETC2014-35396, V05BT08A022; 10 pages
Published Online:
January 13, 2015
Citation
Le, L, Zoppi, M, Jilich, M, Bo, H, Zlatanov, D, & Molfino, R. "Application of a Biphasic Actuator in the Design of a Robot Gripper for Garment Handling." Proceedings of the ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 5B: 38th Mechanisms and Robotics Conference. Buffalo, New York, USA. August 17–20, 2014. V05BT08A022. ASME. https://doi.org/10.1115/DETC2014-35396
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