Performance Study of an Innovative Collaborative Robot Gripper Design on Different Fabric Pick and Place Scenarios 2020-01-1304
Light-weighting fiber composite materials introduced to reduce vehicle mass and known as innovative materials research activities since they provide high specific stiffness and strength compared to contemporary engineering materials. Nonetheless, there are issues related automation strategies and handling methods. Material handling of flexible textile/fiber components is a process bottleneck and it is currently being performed by setting up multi-stage manual operations for hand layups. Consequently, the long-term research objective is to develop semi-automated pick and place processes for flexible materials utilizing collaborative robots within the process. The immediate research is to experimentally validate innovatively designed grippers for efficient material pick and place tasks. Pick and place experiments on a 0/90 woven carbon fiber fabric with an innovative gripper design is tested using a YuMi 14000 ABB collaborative robot to validate the new-designed gripper enhanced performance on the grab, microscopic thread damage, slippage and material wrinkling based on the previous research  for two gripping forces, and two travel speeds. Also, different double-arm pick-move-place scenarios are sought to achieve an acceptable approach through which fabric de-wrinkling feature is achieved and improved. RoboStudio software is utilized as the interface for programming robot’s TCP and a grid-based testing bed is used for
quantification of the placing accuracy. It is shown that using new-designed silicone glove reduces the thread damage and completely prevents material slippage. In addition, it is figured out that double-arm hybrid horizontal-inclined pick and place scenario presents the best de-wrinkling result with improved placing accuracy over all other scenarios examined.