Robotic Gripping Device for Garment Handling Operations and Its Adaptive Control

Abstract

A pick-up device with flexible drive linkage for textiles is presented in this article. The adaptive pick-up device for textile is based on a drive linkage with flexible links and gripping elements. The paper presents the construction of the robot’s pick-up device for textile, the method of making it reliable and the algorithm of its control. The method is based on determining the forces appearing in structural elements under the effect of grippers, and using this data-controlling signal garment handling operation under industrial conditions.