Journal of Textile Research ›› 2024, Vol. 45 ›› Issue (06): 227-234.doi: 10.13475/j.fzxb.20230506802

• Comprehensive Review • Previous Articles     Next Articles

Review on automatic grasping technology and arrangement methods for garment pattern pieces

WANG Jianping1,2,3,4, SHEN Jinzhu1,2,3, YAO Xiaofeng1,2,3(), ZHU Yanxi1,2,3, ZHANG Fan5   

  1. 1. College of Fashion and Art Design, Donghua University, Shanghai 200051, China
    2. Key Laboratory of Clothing Design and Technology, Ministry of Education, Donghua University, Shanghai 200051, China
    3. Shanghai Belt and Road Joint Laboratory of Textile Intelligent Manufacturing, Donghua University, Shanghai 200051, China
    4. Shanghai Institute of Design and Innovation, Tongji University, Shanghai 200092, China
    5. Suzhou Rochu Robotics Co., Ltd.,Suzhou, Jiangsu 215600, China
  • Received:2023-05-26 Revised:2024-02-26 Online:2024-06-15 Published:2024-06-15

RichHTML

9

PDF (PC)

34

Abstract:

Significance Garment manufacturing and processing are progressing to intelligent manufacturing following the concept of "machine instead of man". However, in the off-loading sector of the garment industry, the stacking of cut pieces from the cutting machine is currently carried out primarily by manual gripping and separation, which forms a "bottleneck" limiting the further intelligent development in garment manufacturing. Focusing on this problem, this paper reviews and summarizes the research progress in automatic gripping technology and arrangement methods for garment ply, aiming to provide reference for the development of gripping methods for a variety of fabric materials and shapes.

Progress This paper reviews the current global research status of intelligent gripping technology and the arrangement methods for garment pattern pieces. Specifically, the principles and applicable fabric ranges of air-pressure suck gripping, electrostatic gripping, needling gripping, robotic gripping and soft finger gripping are analyzed, and their layouts on the fabric surface are summarized and divided into three categories, i.e. blind gripping, single-point gripping and multi-point collaborative gripping. Literature shows that the soft finger gripping technology has a broader application potentials and would play an important role in future development of intelligent grasping technology for garment pattern pieces. It is envisaged that the intelligent gripping method combined with machine vision technology and other artificial intelligence technology is an important research direction for the future.

Conclusion and Prospect According to the literature research, Bernoulli suction cups work better with leather than fabrics, whereas negative pressure suction cups are often appropriate for moving a whole stack of materials. Electrostatic is more appropriate for textiles made of chemical fibres. Mechanical gripping and needling are less taxing on fabric material. Needles, however, are better suited for lightweight materials, and they are likely to pierce the material and result in quality issues. Mechanical gripping is more likely to induce creases on the surface of the fabric. Research on Coanda suction cups and soft finger grasping is still in its early stages. The advantages of soft material, easy control, economic efficiency, and gentle finger grasping have made this new type of garment cutting piece gripping technique one of the most marketable. Future gripping technologies should enhance gripping accuracy, repeat positioning accuracy of the gripping head, convenience, economical layout methods, intelligent garment cutting piece gripping, to make a breakthrough in order to better accomplish the goal of "machine instead of man" in garment pattern piece gripping.

Key words: automatic grasping, fabric grasping, arrangement, soft finger, apparel intelligent manufacturing

CLC Number: 

  • TS941.56

Fig.1

Grasping principle of vacuum sucker"

Fig.2

Grasping principle of Bernoulli suction cup"

Fig.3

Grasping principle of Coanda suction cup"

Tab.1

Application fabric for air pressure adsorption grospina"

吸附方式 是否接触裁片 适用面料
真空吸盘 接触 单层面料、一叠面料堆垛
伯努利吸盘 非接触 皮革,服装洗唛
柯恩达吸盘 非接触 质量轻、透气量低的面料

Fig.4

Electrostatic grasping principle"

Fig.5

Intrusive gripping method. (a) Grasping principle (b) Girpping by SOFTWEARS"

Fig.6

Representative manipulator gripping. (a) Two-finger grab type; (b) Three-finger grab type"

Fig.7

Soft finger. (a) Closed structure; (b) High heel structure"

[1] 闻力生. 服装智能制造需用好数据资产[J]. 纺织科学研究, 2022(3): 32-34.
WEN Lisheng. Intelligent manufacturing of clothing requires well use of data assets[J]. Textile Science Research, 2022(3): 32-34.
[2] 闻力生. 人工智能在服装智能制造中的应用[J]. 纺织高校基础科学学报, 2020, 33(2): 30-36.
WEN Lisheng. Application of artificial intelligence in garment intelligent manufacturing[J]. Basic Sciences Journal of Textile Universities, 2020, 33(2): 30-36.
[3] 闻力生. 服装企业智能制造的实践[J]. 纺织高校基础科学学报, 2017, 30(4): 468-474.
WEN Lisheng. Practice of intelligence manufacturing in apparel enterprises[J]. Basic Sciences Journal of Textile Universities, 2017, 30(4): 468-474.
[4] 刘汉邦, 李新荣, 刘立东. 服装面料自动抓取转移方法的研究进展[J]. 纺织学报, 2021, 42(1): 190-196.
LIU Hanbang, LI Xinrong, LIU Lidong. Research progress if automatic grabbing and transfer methods for garment fabrics[J]. Journal of Textile Research, 2021, 42(1): 190-196.
[5] LIU Y, SU J, LI X, et al. A systematic automated grasping approach for automatic manipulation of fabric with soft robot grippers[J]. Industrial Robot-the International Journal of Robotics Research and Application, 2023, 50(4):623-632.
[6] 沈津竹. 基于软体手指的服装裁片堆垛抓取模型研究[D]. 无锡: 江南大学, 2021:1-57.
SHEN Jinzhu. Grasping model of garment cutting pieces for robotic soft fingers[D]. Wuxi: Jiangnan University, 2021:1-57.
[7] SU J Q, SHEN J Z, LYU J. Arrangement of soft fingers for automatic grasping of fabric pieces of garment[J]. Textile Research Journal, 2022, 92(1/2): 143-159.
[8] FAILLI F, DINI G. An innovative approach to the automated stacking and grasping of leather plies[J]. Cirp Annals-Manufacturing Technology, 2004, 53(1): 31-34.
[9] ČUBRIC G, SALOPEK ČUBRIC I. Study of grippers in automatic handling of nonwoven material[J]. Journal of The Institution of Engineers (India): Series E, 2019, 100:167-173.
[10] CUBRIC G. Catching the woven fabric with vacuum gripper[C]//NIKOLIC G, SIGNJAR S. 23rd International DAAAM Symposium on Intelligent Manufacturing and Automation - Focus on Sustainability. New York: Curran Associates, Inc, 2012: 465-468.
[11] OZCELIK B, ERZINCANLI F. A non-contact end-effector for the handling of garments[J]. Robotica, 2002, 20: 447-450.
[12] DINI G, FANTONI G, FAILLI F. Grasping leather plies by Bernoulli grippers[J]. CIRP Annals, 2009, 58(1): 21-24.
[13] LIEN T K, DAVIS P G G. A novel gripper for limp materials based on lateral Coanda ejectors[J]. Cirp Annals-Manufacturing Technology, 2008, 57(1): 33-36.
[14] LIU H B, LI X R, FENG W Q, et al. Grabbing performance of non-contact gripper based on Coanda effect for garment fabrics[J]. Journal of Textile Research, 2022, 43(2): 208-213.
[15] 刘汉邦, 李新荣, 冯文倩, 等. 面向服装面料的柯恩达效应式非接触夹持器吸附性能[J]. 纺织学报, 2022, 43(2): 208-213.
LIU Hanbang, LI Xinrong, FENG Wenqing, et al. Grabbing performance of non-contact gripper based on Coanda effect for garment fabrics[J]. Journal of Textile Research, 2022, 43(2): 208-213.
[16] 刘立东, 李新荣, 刘汉邦, 等. 基于纬编针织物特性的静电吸附力模型[J]. 纺织学报, 2021, 42(3): 161-168.
LIU Lidong, LI Xinrong, LIU Hanbang, et al. Electrostatic adsorption model based on characteristics of weft knitted fabrics[J]. Journal of Textile Research, 2021, 42(3): 161-168.
[17] 刘立东, 李新荣, 刘汉邦, 等. 服装面料静电吸附抓取转移电极板优化设计[J]. 纺织学报, 2021, 42(2): 185-192.
LIU Lidong, LI Xinrong, LIU Hanbang, et al. Optimization design of electrode plate based on electrostatic adsorption and transfer used for garment fabric[J]. Journal of Textile Research, 2021, 42(2): 185-192.
[18] SUN B. A new electrostatic gripper for flexible handling of fabrics in automated garment manufacturing[C]//ZHANG X Y. 15th IEEE International Conference on Automation Science and Engineering (IEEE CASE). Piscataway: IEEE, 2019: 879-884.
[19] FENG W Q, HU Y L, LI X R, et al. Robot end effector based on electrostatic adsorption for manipulating garment fabrics[J]. Textile Research Journal, 2022, 92(5/6): 691-705.
[20] KONDRATAS A. Robotic gripping device for garment handling operations and its adaptive control[J]. Fibres & Textiles in Eastern Europe, 2005, 13(4): 84-89.
[21] SOFTWEAR AUTOMATION[EB/OL].(2021-01-01)[2024-02-16]. https://softwearautomation.com/sewbots/.
[22] ABE T, KAWASAKI Y, YAMAZAKI K. A robotic end-effector with rolling up mechanism for pick-and-release of a cotton sheet[J]. Robomech Journal, 2020, 7(1): 37.
[23] EBRAHEEM Y, DREAN E, Adolphe D C. Universal gripper for fabrics-design, validation and inte-gration[J]. International Journal of Clothing Science and Technology, 2021, 33(4): 643-663.
[24] YAMAZAKI K, ABE T. A versatile end-effector for pick-and-release of fabric parts[J]. Ieee Robotics and Automation Letters, 2021, 6(2): 1431-1438.
[25] BORRAS J, ALENYA G, TORRAS C. A grasping-centered analysis for cloth manipulation[J]. Ieee Transactions on Robotics, 2020, 36(3): 924-936.
[26] ONO E. On better pushing for picking a piece of fabric from layers[C]//TAKASE K, IEEE International Conference on Robotics and Biomimetics (ROBIO). Piscataway: IEEE, 2007: 589-59.
[27] ONO E. On friction picking up a piece of fabric from layers[C]//KITAGAKI K, KAKIKURA M. IEEE International Conference on Mechatronics Automation. Piscataway: IEEE, 2005: 2206-2211.
[28] KOUSTOUMPARDIS P N. A 3-finger robotic gripper for grasping fabrics based on cams-followers mechanism[C]//SMYRNIS S, ASPRAGATHOS N A. 26th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD). Cham: Springer Nature, 2017: 612-620.
[29] KOUSTOUMPARDIS P N. Underactuated 3-finger robotic gripper for grasping fabrics[C]//NASTOS K X, ASPRAGATHOS N A. 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD). Piscataway: IEEE, 2014:1-8.
[30] JILICH M, FRASCIO M, AVALLE M, et al. Development of a gripper for garment handling designed for additive manufacturing[J]. Proceedings of the Institution of Mechanical Engineers Part C: Journal of Mechanical Engineering Science, 2021, 235(10): 1799-1810.
[31] LE L A. Application of a biphasic actuator in the design of a robot gripper for garment handling[C]// LE L A, ZOPPIM, JILICHM, et al.ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference (DETC). New York: American Society of Mechanical Engineers, 2014: 1-10
[32] LE L. Development and analysis of a new specialized gripper mechanism for garment handling[C]// LE L, ZOPPIM, JILICHM, et al.ASME International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE). New York: American Society of Mechanical Engineers. 2013.DOI:10.115/DETC2013-13150.
[33] KOUSTOUMPARDIS P. A review of gripping devices for fabric handling[C]//ASPRAGATHOS N. International Conference on Intelligent Manipulation and Grasping IMG04. Delhi: Emerald Group Publishing Limited. 2004: 229-234.
[34] 张蕾, 韦攀东, 李鹏飞, 等. 采用神经网络算法的多指机械手织物抓取规划[J]. 纺织学报, 2017, 38(1): 132-139.
ZHANG Lei, WEI Pandong, LI Pengfei, et al. Fabric grasp planning for muti-fingered dexterous hand based on neural network algorithm[J]. Journal of Textile Research, 2017, 38(1): 132-139.
[35] RANZANI T, GERBONI G, CIANCHETTI M, et al. A bioinspired soft manipulator for minimally invasive surgery[J]. Bioinspir Biomim, 2015. DOI:10.1088/1748-3190/10/3/035008.
[36] 沈津竹, 赵晓露, 张帆, 等. 柔性康复手套设计与工效性评价[J]. 纺织学报, 2020, 41(9): 119-127.
SHEN Jinzhu, ZHAO Xiaolu, ZHANG Fan, et al. Design and ergonomic evaluation of flexible rehabilitation gloves[J]. Journal of Textile Research, 2020, 41(9): 119-127.
[37] 沈津竹, 苏军强. 软体机械手逐层分离服装裁片的影响因素[J]. 服装学报, 2021, 6(4): 357-365.
SHEN Jinzhu, SU Junqiang. Influence factors of the soft manipulator to separate the garment cutting pieces layer by layer[J]. Journal of Clothing Research, 2021, 6(4): 357-365.
[38] POLYGERINOS P, WANG Z, GALLOWAY K C, et al. Soft robotic glove for combined assistance and at-home rehabilitation[J]. Robotics and Autonomous Systems, 2015, 73: 135-143.
[39] 王延杰, 赵鑫, 王建峰, 等. 软体机器人驱动技术研究进展[J]. 液压与气动, 2022, 46(12): 1-11.
doi: 10.11832/j.issn.1000-4858.2022.12.001
WANG Yanjie, ZHAO Xin, WANG Jianfeng, et al. Research progress on actuating technology of soft robot[J]. Chinese Hydraulics & Pneumatics, 2022, 46(12): 1-11.
[40] 董效, 冯显英. 软体机器人研究现状及展望[J]. 现代制造技术与装备, 2022, 58(9): 70-73.
DONG Xiao, FENG Xianying. Research status and prospect of soft robot[J]. Modern Manufacturing Technology and Equipment, 2022, 58(9): 70-73.
[41] KU S, MYEONG J, KIM H Y, et al. Delicate fabric handling using a soft robotic gripper with embedded microneedles[J]. IEEE Robotics and Automation Letters, 2020, 5(3): 4852-4858.
[42] SU J Q, SHEN J Z, ZHANG F. Grasping model of fabric cut pieces for robotic soft fingers[J]. Textile Research Journal, 2022, 92(13/14): 2223-2238.
[43] SU J, WANG N, ZHANG F. A design of bionic soft gripper for automatic fabric grasping in apparel manufacturing[J]. Textile Research Journal, 2023, 93(7/8): 1587-1601.
[44] RAGUNATHAN S, KARUNAMOORTHY L. Modeling and dynamic analysis of reconfigurable robotic gripper system for handling fabric materials in garment industries[J]. Journal of Advanced Manufacturing Systems, 2006, 5: 233-254.
[45] LANKALAPALLI S, EISCHEN J W. Optimal pick-up locations for transport and handling of limp materials: part I: one-dimensional strips[J]. Textile Research Journal, 2003, 73(9): 787-796.
[46] LIN H, CLIFFORD M J, TAYLOR P M, et al. 3D mathematical modelling for robotic pick up of textile composites[J]. Composites Part B: Engineering, 2009, 40(8): 705-713.
[47] LIN H, TAYLOR P M, BULL S J. Modelling of contact deformation for a pinch gripper in automated material handling[J]. Mathematical and Computer Modelling, 2007, 46(11/12): 1453-1467.
[48] 《中国制造2025》解读之:我国制造业发展进入新的阶段[J]. 工业炉, 2023, 45(2): 60.
Interpretation of Made in China 2025: China's manufacturing industry has entered a new stage[J]. Industrial Furnace, 2023, 45(2): 60.
[1] WANG Jianping, ZHU Yanxi, SHEN Jinzhu, ZHANG Fan, YAO Xiaofeng, YU Zhuoling. Advances in application of soft robot in apparel field [J]. Journal of Textile Research, 2024, 45(05): 239-247.
[2] CHEN Ke, ZHANG Di, JI Yijun, LE Rongqing, SU Xuzhong. Effect of combed polyester top content on properties of polyester knitted fabrics [J]. Journal of Textile Research, 2021, 42(09): 66-69.
[3] HE Yaqin, BI Xuerong, QIAN Xixi, RUAN Jun, YU Chongwen. Simulation study on effect of drafting on sliver unevenness [J]. Journal of Textile Research, 2021, 42(06): 85-90.
[4] LIU Lidong, LI Xinrong, LIU Hanbang, LI Dandan. Optimization design of electrode plate based on electrostatic adsorption and transfer used for garment fabric [J]. Journal of Textile Research, 2021, 42(02): 185-192.
[5] HUANG Zhenzhen, MOK Pikyin, WEN Lihong. Garment production line balance based on genetic algorithm and simulation [J]. Journal of Textile Research, 2020, 41(07): 154-159.
[6] YUAN Tianxing, SUN Zhihong, LÜ Hongzhan, LI Xueqing, GU Shenghui. Study on braiding of knotless netting [J]. Journal of Textile Research, 2019, 40(09): 70-74.
[7] CHEN Meiyu, SUN Runjun, ZHANG Changqi, LIU Xianfeng. Pressure reduction property of warp-knitted spacer fabric [J]. Journal of Textile Research, 2019, 40(07): 58-63.
[8] CHEN Jingjing, WANG Biqi, WANG Xueqin. Innovation design and performance test of needle composite wool fabric [J]. Journal of Textile Research, 2019, 40(03): 49-53.
[9] . Arrangement of garment production line by particle swarm algorithm [J]. Journal of Textile Research, 2018, 39(10): 120-124.
[10] . Digital yarn simulation under fiber scale [J]. JOURNAL OF TEXTILE RESEARCH, 2017, 38(11): 150-155.
[11] . Internet-based computer-aided design system for weft knitted fabric [J]. JOURNAL OF TEXTILE RESEARCH, 2017, 38(08): 150-155.
[12] .  Pattern design of multi-bar raschel positioning lace fabric for dress [J]. JOURNAL OF TEXTILE RESEARCH, 2016, 37(08): 114-118.
[13] . Distribution of fiber left ends in carded sliver [J]. Journal of Textile Research, 2016, 37(05): 28-31.
[14] . Influence of metal yarns arrangement mode on shielding effectiveness [J]. Journal of Textile Research, 2015, 36(12): 25-31.
[15] . Influential factors of electromagnetic shielding effectiveness based on the effective woven fabrics structure model [J]. Journal of Textile Research, 2015, 36(07): 43-49.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
京ICP备14006648号
Copyright 2021 © Editorial office of Journal of Textile Research
Supported by Beijing Magtech Co.Ltd