Research On Non-contact End Effector Of Clothing Robot Based On Coanda Mechanis

With the continuous improvement of people’s living standards,traditional mass production of garment can no longer meet the life and spiritual needs of today’s people.Therefore,personalized garment customization will dominate the future garment production model,and it is necessary to achieve personalized garment.Production and application of non-contact end effectors of garment robots is an indispensable part,which is of great significance to the realization of personalized customization and processing of garment.Apparel fabrics have physical properties such as high elasticity,breathability and flexibility.Appropriate methods should be selected for their grasping methods.At present,the main methods of automatic grasping and transferring of fabrics include robotic grasping,negative pressure adsorption and electrostatic adsorption,but robotic grasping the fabric has scratch defects,negative pressure adsorption has high requirements on the air permeability of the fabric,and the electrostatic adsorption has high cost and is easy to penetrate the fabric.There are certain irreparable defects.Therefore,the paper proposes to use non-contact end effectors to grab garment fabrics to solve the above problems,but non-contact end effectors also have the problems of excessive energy consumption and insufficient adsorption force.Therefore,this paper studies its structural principles and proposes a non-contact end effector based on the Coanda mechanism,whose adsorption performance is increased by 15%-20%.Firstly,the basic principle of the non-contact end effector based on the Coanda mechanism is studied,and the Coanda mechanism is introduced to save energy;then the non-contact end effector based on the Coanda mechanism is established.Force theory model,and take woven fabric as an example,establish a garment fabric adsorption force model considering the theoretical of fabric breathability,analyze the factors that affect its lifting force;and use finite element analysis software to analyze its internal flow field,through Lifting force and pressure distribution measurement experiments verify the adsorption performance of the non-contact end effector based on the Coanda mechanism.Secondly,in order to solve the problem of insufficient adsorption area when grasping garment fabrics,the paper proposes an array type non-contact end effector based on the Coanda mechanism,and then uses finite element analysis software to simulate its internal flow field.The simulation found that there is strong airflow interference on the bottom surface of the adsorption,so an array non-contact end effector based on the Coanda mechanism with airflow guide holes is proposed to improve its adsorption performance and reduce the airflow interference area.Above95%,improve the adsorption capacity.Finally,the non-contact end effector based on the Coanda mechanism is used to measure the gripping effect of fabrics with different parameters,and the adsorption performance is compared;the experimental results show that the non-contact end effector based on the Coanda mechanism can realize the non-contact grabbing of various specifications of garment fabrics.The paper provides new ideas for the research of non-contact end effectors,and provides new theoretical support for the design of non-contact end effectors based on the Coanda mechanism,effectively reducing the spread of bacteria and viruses in the grabbing and transferring of garment fabrics,and provide technical support for the realization of the automated production of apparel fabrics.