摘要
为促进服装智能化生产,探究服装裁片堆垛层间分离这一生产环节,并对软体机械手抓取面料的过程进行力学分析,发现面料间的动、静摩擦系数是影响软体机械手进行堆垛层间分离的关键性因素。通过对6种不同规格的织物进行测量,研究了裁片的表面性能、裁片间的接触面积、环境湿度及裁片表面正压力等因素对面料间动、静摩擦系数的影响。结果发现,当裁片的摩擦因子≥1时,裁片均可被抓取,且软体机械手放置顺应裁片摩擦因子较大的表面方向时,抓取效果较好。其余3个因素显著影响裁片摩擦系数以及摩擦因子的变化。因此,在服装裁片堆垛逐层分离时,可根据实验结论和实际情况对某一变量进行调整,从而提高软体机械手抓取面料的成功率。
In order to promote the intelligent production of garments,the production process of separating the layers of garment cuttings was investigated,and the mechanical analysis of the process of grasping the fabric by the soft finger robot was carried out.It was found that the dynamic and static friction coefficient between the fabrics was the key factor affecting the separation.Then the COF-2001 friction coefficient tester was used to measure 6 different fabric specimens to study the influence of factors on dynamic and static friction coefficients which include the surface properties,the contact area between the cuttings,the environmental humidity,and the positive pressure on the surface of the cuttings.The experimental results found that the surface properties of the garment cuttings have some influence on the friction coefficient,but not significant,and the other three factors and the friction coefficient show a non-linear change law.Therefore,in the garment cutting pieces layer by layer separation,a variable can be adjusted according to the experimental findings and the actual situation,so as to improve the success rate of the soft body robot grasping fabrics.
作者
沈津竹
苏军强
SHEN Jinzhu;SU Junqiang(School of Textile Science and Engineering,Jiangnan University,Wuxi 214122,China;School of Design,Jiangnan University,Wuxi 214122,China)
出处
《服装学报》
2021年第4期357-365,373,共10页
Journal of Clothing Research
关键词
软体机械手
服装面料
服装裁片
逐层分离
soft manipulator
clothing fabric
garment cutting pieces
layer by layer separation
