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Modelling the indentation of fabric by differently shaped pinch grippers

Lookup NU author(s): Emeritus Professor Paul Taylor, Professor Steve BullORCiD


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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 gripper and providing knowledge for an intelligent grasping system of fabric handling. © Emerald Group Publishing Limited.

Publication metadata

Author(s): Lin H, Taylor PM, Bull SJ

Publication type: Article

Publication status: Published

Journal: International Journal of Clothing Science and Technology

Year: 2004

Volume: 16

Issue: 3-4

Pages: 374-393

Print publication date: 01/01/2004

ISSN (print): 0955-6222

ISSN (electronic): 1758-5953

Publisher: Emerald Group Publishing Ltd


DOI: 10.1108/09556220410538956


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