| description abstract | The paper (a first version of this work was presented in Aug. 2014 at ASMEDETC in Buffalo, NY) describes a novel robot gripper for garment handling. The device has been designed, developed, prototyped, and tested within the CloPeMa European Project creating a robot system for automated manipulation of clothing and other textile items. The gripper has two degrees of freedom (dof) and includes both rigid and flexible elements. A variablestiffness actuator has been implemented to add controlled compliance in the gripper’s operation allowing the combining of various grasping and manipulation tasks. First, we analyze the specific applicationdetermined task requirements, focusing on the need for adaptive flexibility and the role of compliant elements in the design. The chosen solution is a simple planar mechanism, equipped with one standard and one variablestiffness actuator. The mechanical design of the gripper, including the hydraulic system used in the biphasic actuator, is outlined, and the control architecture, using sensor feedback, is described. | |
