Optimal Pick-up Locations for Transport and Handling of Limp Materials

Pick-up locations are obtained on strips of limp material that minimize a measure of deformation (strain energy). The strips are modeled as continuous beams subjected to a uniformly distributed load using small and large deflection beam theories. Pick-up locations correspond to n support locations of the continuous beam. Strain energy is computed from a finite element solution, and optimal locations are obtained by solving unconstrained and bound constrained optimization problems. Results are in terms of a nondimensional number that characterizes the flexibility of the beam and are applicable to a wide range of limp materials. Some results for fabric strips are also presented.

[1]  E. Torgerson,et al.  Vision guided robotic fabric manipulation for apparel manufacturing , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[2]  J. E. Taylor,et al.  Designing Continuous Columns for Minimum Total Cost of Material and Interior Supports , 1978 .

[3]  Frank W. Paul,et al.  Vision-guided robotic fabric manipulation for apparel manufacturing , 1987, IEEE Control Systems Magazine.

[4]  Zoe Doulgeri,et al.  Robot handling of flat textile materials , 1997, IEEE Robotics Autom. Mag..

[5]  Zenon Mróz,et al.  Optimal design of structures with variable support conditions , 1975 .

[6]  Jorge Nocedal,et al.  Algorithm 778: L-BFGS-B: Fortran subroutines for large-scale bound-constrained optimization , 1997, TOMS.

[7]  J. M. Pitarresi,et al.  A Simple Technique for the Rapid Estimation of the Optimal Support Locations for a Vibrating Plate , 1992 .

[8]  Peter Wriggers,et al.  Consistent linearization for path following methods in nonlinear FE analysis , 1986 .

[9]  Kimon P. Valavanis,et al.  A flat surface robotic gripper for handling limp material , 1995, IEEE Robotics Autom. Mag..

[10]  Rajiv Dubey,et al.  Robotic Fabric Handling for Automating Garment Manufacturing , 1983 .

[11]  Z. Mroz,et al.  Column Design: Optimization of Support Conditions and Segmentation , 1977 .

[12]  Yang Xiang,et al.  Optimal locations of point supports in laminated rectangular plates for maximum fundamental frequency , 1997 .

[13]  A. Rodkina,et al.  The Linear Theory , 1992 .

[14]  J. C. Simo,et al.  On a stress resultant geometrically exact shell model. Part II: the linear theory; computational aspects , 1989 .

[15]  J. C. Simo,et al.  On stress resultant geometrically exact shell model. Part I: formulation and optimal parametrization , 1989 .

[16]  J. C. Simo,et al.  On a stress resultant geometrically exact shell model. Part III: computational aspects of the nonlinear theory , 1990 .

[17]  J. C. Simo,et al.  On a stress resultant geometrically exact shell model , 1990 .

[18]  Jahau Lewis Chen,et al.  Application of genetic algorithm for the support location optimization of beams , 1994 .

[19]  J. W. Eischen,et al.  Optimization of Fabric Manipulation during Pick/Place Operations , 1993 .

[20]  Gareth J. Monkman,et al.  Electrostatic grippers for fabric handling , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[21]  George I. N. Rozvany,et al.  Plastic design of beams: Optimal locations of supports and steps in yield moment , 1975 .

[22]  Chris A. Czarnecki.  Automated stripping: a robotic handling cell for garment manufacture , 1995, IEEE Robotics Autom. Mag..

[23]  Caterina Rizzi,et al.  Modeling and simulation of handling machinery with dynamic and static behavior of non-rigid materials , 1998, IEEE Robotics Autom. Mag..

[24]  Caterina Rizzi,et al.  Robotic handling for flat non-rigid materials , 1994, Proceedings of IEEE International Conference on Systems, Man and Cybernetics.

[25]  Carl Tim Kelley,et al.  Iterative methods for optimization , 1999, Frontiers in applied mathematics.

[26]  Timothy G. Clapp,et al.  Finite-element modeling and control of flexible fabric parts , 1996, IEEE Computer Graphics and Applications.

[27]  Caterina Rizzi,et al.  Design and simulation of non-rigid materials handling systems , 1996 .