布生地の展開および折り畳み操作のための一対のエンドエフェクタ

抄録

This paper describes a pair of end-effectors for manipulation a fabric product based on pinch-and-slide unfolding. One end-effector is two-fingered and has a passive rotation mechanism. This mechanism prevents the fabric from falling off the fingers when spreading the fabric in a pinch-and-slide motion. We also devise the mechanism to keep the fingers parallel to handle various fabric thicknesses. In addition, the other end-effector and its motion method were proposed for smooth folding after unfolding. Experiments were conducted to investigate the effectiveness of the end-effectors, and it was confirmed that unfold-to-fold manipulation were possible with fabrics of different thicknesses and weights.