Morton Picker Fabric Handling via Hyperbolic Trajectory
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Solution Overview
Problem
The Morton™ picker, a reliable and adaptable fabric gripper, has not been extensively used in robotic applications due to applied strains caused by large three-dimensional movements, which users have not understood or overcome, leading to inefficient fabric manipulation.
Innovation Solution
A method using a robotic arm with multiple degrees of freedom to align and maintain the weight vector of fabric pieces within the region of strong retention of the Morton™ picker during lifting and transporting, employing hyperbolic trajectories to minimize peeling stresses and maintain grip, and configuring the robotic arm to rotate the picker's axis simultaneously with motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the Morton picker is used in robotic applications with large three-dimensional movements, then the picker can be applied to robotic fabric manipulation, but strains are applied to the picker that compromise its reliability and grip strength
Solution Approach 1:
The patent applies dynamics by making the picker axis rotatable and configurable to rotate simultaneously with motion. The robotic arm is configured for complex motion including rotation of the picker's axis, allowing the system to adapt to large three-dimensional movements while maintaining reliable grip through dynamic adjustment of the picker's orientation and configuration
2Ease of operation
If the weight vector is not aligned within the strong retention region, then the picker can be used for general fabric handling, but peeling forces increase and grip strength decreases
Solution Approach 1:
The patent applies parameter changes by aligning the weight vector within the strong retention region through configuration of the robotic arm and picker. The system changes the orientation and position parameters to ensure the weight vector remains within the strong retention region, thereby maintaining strong grip strength and reducing peeling forces during fabric handling
Data Source
AI summary
The method of transporting a piece of fabric material using a Morton™ picker comprises the steps of aligning a weight vector of the piece of fabric material being lifted, from the gap between the toothed wheel and the pressing foot of the picker and into a region between a tangent to the toothed wheel and a right angle to the pressing surface of the pressing foot; and lifting and transporting the piece of fabric material while maintaining the alignment of the weight vector in that region. In another aspect, there is provided robotic installation comprising a robotic arm and a Morton™ picker for manipulating pieces of fabric material. The robotic arm is configured for simultaneously rotating an axis of the picker and moving the picker along a hyperbolic trajectory, in a single complex motion without jitter, while maintaining the aforesaid alignment of the weight vector.