Single sheet separation method from piled fabrics using roller hand mechanism

摘要

In order to automate the work in a garment factory, we developed a method of single sheet separation from piled fabrics by a roller hand mechanism with a rotating mechanism added to the tip of a robot hand. As a result, we succeeded in separating only single sheet of fabrics with a high probability. It is necessary to eliminate failures for practical use. However, it is difficult to eliminate failure completely due to the characteristics of fabrics. We also devised a method to judgement the success or failure of the separation to improve the reliability of the operation. As a result, the thickness of the fabric could be accurately measured and the confidence level was successfully improved.