Handling Collaborative Robot System for Grasping Medical Cotton Cloth Porous with Bernoulli Gripper

摘要

This paper presents the handling collaborative robot (Cobot) system for grasping the medical cotton cloth porous that were arranged in matching layers from one point to another point by arranged them in matching layers again. The important is to not grasping all layer objects together in once, but must be separately for each layer by layer. As the object to be grasped is the cotton cloth porous to be used in the medical purpose, thus the cleanness and must not leave any wrinkles or marks when handled the fabric are necessity required before packaging process. The proposed handling collaborative robot system contains the novel tooling called "Bernoulli Gripper" can achieve this handling task perfectly with 100% success rate of experiments. This gripper was developed to lifts the porous fabric sheet up in such a way that it does not grasping touch by utilizing four points Bernoulli principle elements like no other grippers that need to do the touching forces and always leave wrinkles or marks when handled the fabric, such as pneumatic suction cup, robot hand and fingers. Moreover, the research objective is to produce the handling robot system that can achieve the non-contact grasping and do collaborative tasks together with human in the same environment. As the result, our proposed system can be used for working together with human worker as the collaborative partner to arrange these medical cotton cloth porous products with about 6.5 seconds per sheet in the real production line suitably.