Keywords
Citation
(2001), "Compliant link", Industrial Robot, Vol. 28 No. 6. https://doi.org/10.1108/ir.2001.04928fad.011
Publisher
:Emerald Group Publishing Limited
Copyright © 2001, MCB UP Limited
Compliant link
Compliant link
Keywords: Grippers, Robots
Applicant: Gen Electric Co plc (GB); Courtaulds Plc (GB)Patent number: GB2,227,003Publication date: 18 July 1990Title: Compliant link for robot gripper
This invention relates to an apparatus for handling flexible sheets or fabric, over a work area, as would be required for a garment manufacturing system.
The patent describes how a gantry robot with a gripper comprising of a flat foam-covered plate that is lowered on to the fabric by the robot can be used to move a flexible sheet. It has been found that the best control over the fabric is obtained by allowing the gripper to rest on the fabric solely under its own weight, i.e. when no downwards force is exerted by the robot. This can be achieved with a flexible coupling that allows the gripper to float, while preventing relative rotation between the robot shaft and the gripper. The coupling should be mounted so as to be movable vertically relative to the shaft, and the coupling part to which the gripper is attached should be able to tilt along two horizontal axes. The gripper can be held rigidly in a horizontal position by the introduction of compressed air into the coupling and lowered on to the fabric at this angle. Once in position the pressure is then released.