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Modelling the indentation of fabric by differently shaped pinch grippers

H. Lin (RIFLEX, School of Textiles and Design, Heriot‐Watt University, Galashiels, UK)
P.M. Taylor (School of Mechanical and Systems Engineering, The University of Newcastle upon Tyne, Newcastle upon Tyne, UK)
S.J. Bull (School of Chemical and Advanced Materials, The University of Newcastle upon Tyne, Newcastle upon Tyne, UK)

International Journal of Clothing Science and Technology

ISSN: 0955-6222

Publication date: 1 August 2004

Abstract

Several pick‐up devices have been proposed and invented for automated garment handling but a scientific understanding of picking up operation is incomplete. This paper is an extension of earlier studies into modelling the interaction of the performance of pinch gripper and the properties of flexible material (foam). Here, the relationship between the performance of pinch gripper (size and shape), external load, deformation and the properties fabric is investigated. The distributions of stress and strain within a fabric under differently shaped grippers (flat and curved) are revealed. The main factors affecting the first step of picking up action‐two pegs pushing down on the top of fabric are identified. Experiments have been carried out on single‐ and multi‐layer fabrics, and the accuracy of the models is demonstrated through comparison of the predicted results with the experimental data. This study is aimed towards optimisation of design of a gripper and providing knowledge for an intelligent grasping system of fabric handling.

Keywords

Citation

Lin, H., Taylor, P.M. and Bull, S.J. (2004), "Modelling the indentation of fabric by differently shaped pinch grippers", International Journal of Clothing Science and Technology, Vol. 16 No. 4, pp. 374-393. https://doi.org/10.1108/09556220410538956

Publisher

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Emerald Group Publishing Limited

Copyright © 2004, Emerald Group Publishing Limited