1A1-A08 Mechanical System that Achieves Grasping, Unfolding, and Placing of Fabrics

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  • 1A1-A08 布地の把持・展開・定置を実現する機械システム(ロボットハンドの機構と把持戦略)

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This paper presents a mechanical system that achieves grasping, unfolding, and placing motion of fabrics in series. Fabric setting process by human consists of grasping, unfolding, and placing motion of fabrics. We realize the setting process using a single-armed robot and a four degrees of freedom gripper hand. The robotic gripper wrinkles the fabric to make a grasping area using residual deformation of the fabric. In unfolding motion, we introduce a pinching slip motion, that fingertips slip on the fabric surface with grasping, similar to human unfolding motion of fabrics.

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