Research On End Effector Of Clothing Robot Based On Electrostatic Adsorption Mechanism

Textile and garment industry is the pillar industry of social development.As people living standard enhancement,the textile industry in the consumer market has been consumed by large scale stage to personalized consumption stage,the traditional manual production already Can’t adapt to the demand of The Times,the clothing private custom will become the main development direction of the future textile and apparel industry,and the development of the private customized clothing,inseparable from the support of industrial robot technology.The robot end-effector,as a component that is in direct contact with objects,is the key to the application of industrial robots in textile industry.Therefore,the study of robot end-effector in the garment industry is of great significance to the development of the garment industry in China.At present,the grasping methods of robot end-effector mainly include mechanical grasping,negative pressure adsorption and acupuncture structure.Poor precision of mechanical grasping and positioning easily leads to deformation of fabric;Negative pressure adsorption energy loss is serious,will produce noise;As the needling needle penetrates into the fabric,the fabric will be deformed,which has a certain influence on the quality of the fabric.For the flexible,breathable,lightweight and high-elastic clothing fabric,the above grasping method cannot meet the processing requirements.Electrostatic adsorption is characterized by accurate positioning,low energy consumption and wide adaptability.Therefore,this paper studies the application of electrostatic adsorption technology in the field of automatic production and processing of clothing robots.Firstly,an electrostatic adsorption model based on the characteristics of clothing fabrics was constructed.Paper through the analysis of the influencing factors of electrostatic adsorption force,get the main factors influencing the electrostatic adsorption force is the fabric structure parameters and dielectric properties of woven fabric,knitting weft knitting,for example,again to build parameterized model of fabric,then the fabric structure parameters and the relationship between the size of the electrostatic adsorption,combined with the Maxwell’s equations and simulation software to calculate fabric mixed dielectric constant,construct based on fabric characteristics of electrostatic adsorption force model.Secondly,The electroplate for the garment fabric electrostatic adsorption is optimized.Paper uses finite element analysis method to analyze the electrostatic charge distribution on the plate and get the distribution of electric charge on the plate,in order to charge up,adsorption force per unit area as the target,adopts the method of parametric design,based on the characteristics of the fabric of the shape of the plate electrode layout,structure parameter optimization,the optimized electrostatic force increased by 13% or so.Finally,the previous theoretical research results are verified and analyzed.Taking knitted weft knitting fabric as an example,the three-dimensional model of clothing fabric was introduced into the simulation software to verify and analyze the electrostatic adsorption force generated by the plate,and an experimental platform was set up to detect the electrostatic adsorption force,and the theoretical and simulation results were verified by experiment.The results show that the electrostatic adsorption end-effector can grasp and transfer the fabric and meet the requirements of use.In this paper,the electrostatic adsorption technology is creatively applied to the robot end-effector for the garment manufacturing industry,and the electrostatic adsorption plate is optimized for the fabric characteristics of the garment.It provides a new way to solve the problem of automatic grasp and transfer of fabric,and provides a reference for the application of electrostatic adsorption technology in other industries.