{"title":"End-effector with winding and scooping functions for folding and transporting various cloth parts after cutting","authors":"Yuzhe Zhu, Motoki Hirayama, Kimitoshi Yamazaki","doi":"10.1007/s41315-024-00335-0","DOIUrl":null,"url":null,"abstract":"<p>In this study, we propose a novel end-effector that combines the characteristics of winding and scooping fabrics to grasp and categorically place various cloth parts cut by a cutting machine. In addition, we introduce a method for folding the fabric front and back into smaller dimensions, thereby reducing the space required for categorizing, placing, and packaging various clothes, which, to the best of our knowledge, is unique. Subsequently, we develop a method that autonomously determines folding strategies based on the different dimensions of cloth parts, allowing targeted processing of various cloth parts. This approach reduces the height demands of the robot and improves its capability to simultaneously handle multiple types of clothes. Finally, we evaluate the proposed end-effector and folding method in a simulated factory environment using T-shirt parts made of different materials.</p>","PeriodicalId":44563,"journal":{"name":"International Journal of Intelligent Robotics and Applications","volume":null,"pages":null},"PeriodicalIF":2.1000,"publicationDate":"2024-05-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Intelligent Robotics and Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1007/s41315-024-00335-0","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
In this study, we propose a novel end-effector that combines the characteristics of winding and scooping fabrics to grasp and categorically place various cloth parts cut by a cutting machine. In addition, we introduce a method for folding the fabric front and back into smaller dimensions, thereby reducing the space required for categorizing, placing, and packaging various clothes, which, to the best of our knowledge, is unique. Subsequently, we develop a method that autonomously determines folding strategies based on the different dimensions of cloth parts, allowing targeted processing of various cloth parts. This approach reduces the height demands of the robot and improves its capability to simultaneously handle multiple types of clothes. Finally, we evaluate the proposed end-effector and folding method in a simulated factory environment using T-shirt parts made of different materials.
在本研究中，我们提出了一种新型末端执行器，它结合了卷绕和舀取织物的特性，可抓取并分类放置裁剪机裁剪的各种布料部件。此外，我们还介绍了一种将布料前后折叠成更小尺寸的方法，从而减少了分类、放置和包装各种衣物所需的空间，据我们所知，这是独一无二的。随后，我们开发了一种方法，可根据布料部件的不同尺寸自主确定折叠策略，从而有针对性地处理各种布料部件。这种方法降低了对机器人高度的要求，提高了机器人同时处理多种类型衣物的能力。最后，我们利用不同材料制成的 T 恤部件，在模拟工厂环境中对所提出的末端执行器和折叠方法进行了评估。
期刊介绍：
The International Journal of Intelligent Robotics and Applications (IJIRA) fosters the dissemination of new discoveries and novel technologies that advance developments in robotics and their broad applications. This journal provides a publication and communication platform for all robotics topics, from the theoretical fundamentals and technological advances to various applications including manufacturing, space vehicles, biomedical systems and automobiles, data-storage devices, healthcare systems, home appliances, and intelligent highways. IJIRA welcomes contributions from researchers, professionals and industrial practitioners. It publishes original, high-quality and previously unpublished research papers, brief reports, and critical reviews. Specific areas of interest include, but are not limited to:Advanced actuators and sensorsCollective and social robots Computing, communication and controlDesign, modeling and prototypingHuman and robot interactionMachine learning and intelligenceMobile robots and intelligent autonomous systemsMulti-sensor fusion and perceptionPlanning, navigation and localizationRobot intelligence, learning and linguisticsRobotic vision, recognition and reconstructionBio-mechatronics and roboticsCloud and Swarm roboticsCognitive and neuro roboticsExploration and security roboticsHealthcare, medical and assistive roboticsRobotics for intelligent manufacturingService, social and entertainment roboticsSpace and underwater robotsNovel and emerging applications
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