In this paper we introduce a novel robotic end-effector for pick-and-release of a sheet of cotton cloth. One of the main operations in a factory for sewing cloth products is to pick up cloth parts, provide them to a sewing machine, and sew them together. Fabric products are assembled by performing this work in various processes. Each work starts with a lot of cloth parts stacked near a sewing machine. In the case of underwear, thin cotton cloth is the target of manipulation, but such cloth parts tend to stick to each other, and a certain skill or technical acuity is required for picking up. Therefore, this work is basically done manually in the present. The purpose of this study is to automate such manipulation, so we devise an end-effector that picks up only the top one of stacked cotton sheets. The proposed end-effector has a mechanism that is a cylindrical brush attached with a remover cloth on its surface. The cylindrical brush is grounded on a cotton sheet, and then is rotated to roll up only the cotton sheet. This mechanism makes it possible to release the sheet by rotating the brush in the reverse. We constructed hardware with this function and attached it to the tip of a robotic manipulator. In addition, we performed system integration so that the initial position of rolling up a cotton sheet could be automatically determined from images taken by a camera. We also conducted evaluation experiments.

中文翻译：

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具有卷取机构的自动末端执行器，用于棉布的取放

在本文中，我们介绍了一种新型的自动末端执行器，用于拾放一块棉布。缝制布料产品的工厂的主要操作之一是拾取布料零件，将它们提供给缝纫机，然后将它们缝在一起。通过在各种过程中执行此工作来组装织物产品。每项工作都是从将许多布料叠放在缝纫机附近开始的。在内衣的情况下，薄棉布是操作的目标，但是这样的布部分倾向于彼此粘附，并且需要一定的技术或技术敏锐度来拾取。因此，目前这项工作基本上是手动完成的。这项研究的目的是使这种操作自动化，因此我们设计了一种末端执行器，该末端执行器仅拾取堆叠的棉片中的最上面一个。所提出的末端执行器具有一种机制，该机制是圆柱形刷子，其表面附有卸妆布。将圆柱形刷子接地在棉片上，然后旋转以仅卷起棉片。该机制使得可以通过反向旋转刷子来释放纸张。我们构建了具有此功能的硬件，并将其附加到机器人操纵器的尖端。此外，我们进行了系统集成，以便可以从相机拍摄的图像中自动确定卷起棉布的初始位置。我们还进行了评估实验。该机制使得可以通过反向旋转刷子来释放纸张。我们构建了具有此功能的硬件，并将其附加到机器人操纵器的尖端。此外，我们进行了系统集成，以便可以从相机拍摄的图像中自动确定卷起棉布的初始位置。我们还进行了评估实验。该机制使得可以通过反向旋转刷子来释放纸张。我们构建了具有此功能的硬件，并将其附加到机器人操纵器的尖端。此外，我们进行了系统集成，以便可以从相机拍摄的图像中自动确定卷起棉布的初始位置。我们还进行了评估实验。