The paper (a first version of this work was presented in Aug. 2014 at ASME-DETC in Buffalo, NY) 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 (dof) 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.

References

References
1.
Molfino
,
R.
,
Zoppi
,
M.
, and
Carca
,
E.
,
2009
, “
Robotic Soft Material Handling
,”
Transforming Clothing Production Into a Demand-Driven, Knowledge-Based, High-Tech Industry: The Leapfrog Paradigm
,
Springer
, London, pp.
31
41
.
2.
Carca
,
E.
,
Zoppi
,
M.
, and
Molfino
,
R.
,
2008
, “
A Cooperative Gripper for Handling and Hanging Limp Parts
,”
11th CLAWAR International Conference on Advances in Mobile Robotics
,
World Scientific
,
Coimbra
, Portugal, Sept. 8–10, pp.
843
850
.
3.
Taylor
,
P.
, and
Pollet
,
D.
,
1997
, “
Why is Automated Garment Manufacture so Difficult?
,”
8th International Conference on Advanced Robotics
, (
ICAR’97
), Monterey, CA, July 7–9, pp.
39
44
.
4.
Iberall
,
T.
, and
MacKenzie
,
C. L.
,
1990
, “
Opposition Space and Human Prehension
,”
Dextrous Robot Hands
,
S. T.
Venkataraman
, and
T.
Iberall
, eds.,
Springer
,
New York
, pp.
32
54
.
5.
Lederman
,
S.
, and
Taylor
,
M.
,
1972
, “
Fingertip Force, Surface Geometry, and the Perception of Roughness by Active Touch
,”
Percept. Psychophysics
,
12
(
5
), pp.
401
408
.10.3758/BF03205850
6.
Le
,
L.
,
Zoppi
,
M.
,
Jilich
,
M.
,
Camoriano
,
R.
,
Zlatanov
,
D.
, and
Molfino
,
R.
,
2013
, “
Development and Analysis of a New Specialized Gripper Mechanism for Garment Handling
,”
ASME
Paper No. DETC2013-13150. 10.1115/DETC2013-13150
7.
Wolf
,
S.
, and
Hirzinger
,
G.
,
2008
, “
A New Variable Stiffness Design: Matching Requirements of the Next Robot Generation
,”
IEEE International Conference on Robotics and Automation
(
ICRA 2008
), Pasadena, CA, May 19–23, pp.
1741
1746
.10.1109/ROBOT.2008.4543452
8.
Albu-Schäffer
,
A.
,
Eiberger
,
O.
,
Grebenstein
,
M.
,
Haddadin
,
S.
,
Petit
,
F.
, and
Chalon
,
M.
,
2010
, “
Dynamic Modelling and Control of Variable Stiffness Actuators
,”
IEEE International Conference on Robotics and Automation
(
ICRA
), Anchorage, AK, May 3–7, pp.
2155
2162
.10.1109/ROBOT.2010.5509850
9.
Wassink
,
M.
,
Carloni
,
R.
, and
Stramigioli
,
S.
,
2010
, “
Port-Hamiltonian Analysis of a Novel Robotic Finger Concept for Minimal Actuation Variable Impedance Grasping
,”
IEEE International Conference on Robotics and Automation
(
ICRA
), Anchorage, AK, May 3–7, pp.
771
776
.10.1109/ROBOT.2010.5509871
10.
Wimbock
,
T.
,
Ott
,
C.
,
Albu-Schaffer
,
A.
,
Kugi
,
A.
, and
Hirzinger
,
G.
,
2008
, “
Impedance Control for Variable Stiffness Mechanisms With Nonlinear Joint Coupling
,”
IEEE/RSJ International Conference on Intelligent Robots and Systems
(
IROS 2008
), Nice, France, Sept. 22–26, pp.
3796
3803
.10.1109/IROS.2008.4651079
11.
Cutkosky
,
M. R.
, and
Howe
,
R. D.
,
1990
, “
Human Grasp Choice and Robotic Grasp Analysis
,”
Dextrous Robot Hands
,
S. T.
Venkataraman
, and
T.
Iberall
, eds.,
Springer
,
New York
, pp.
5
31
.
12.
Klatzky
,
R. L.
, and
Lederman
,
S.
,
1990
, “
Intelligent Exploration by the Human Hand
,”
Dextrous Robot Hands
,
S. T.
Venkataraman
, and
T.
Iberall
, eds.,
Springer
,
New York
, pp.
66
81
.
13.
Zoppi
,
M.
,
Zlatanov
,
D.
, and
Molfino
,
R.
,
2006
, “
On the Velocity Analysis of Interconnected Chains Mechanisms
,”
Mech. Mach. Theory
,
41
(
11
), pp.
1346
1358
.10.1016/j.mechmachtheory.2005.12.004
14.
Han
,
B.
,
Zoppi
,
M.
, and
Molfino
,
R.
,
2013
, “
Variable Impedance Actuation Using Biphasic Media
,”
Mech. Mach. Theory
,
62
, pp.
1
12
.10.1016/j.mechmachtheory.2012.11.001
You do not currently have access to this content.