Grasping and placing strategy of flexible fabric with soft robot Grippers

Abstract

An industrial bionic soft finger gripping system is proposed in this paper for application in the field of fabric automatic manipulation. A rectangular piece of delicate fabric could be picked up and released from a stack by the proposed gripper from a stack without creating any damage to it. The grasping strategy of the soft finger was described. The performance of the soft finger was analyzed briefly by simulation. In addition, we discussed the placement strategy in detail. In the experiment, we found that not only the grasping margin is a crucial factor that influences the effect of placing, but also placement speed and angle are important. In the future development, it is expected that it can be applied to the automatic intelligent production of clothing.