ローラーハンド機構を用いた重ねられた布の1枚分離手法

抄録

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. Therefore, we devised a method to determine the success of separation, created an actual machine, and evaluated the performance of actual machine by experimentation using an actual machine. As a result, we could not accurately measure the thickness of the fabric, but we found the possibility of realizing the judgment mechanism of separation success by improving the mechanism.