An End-Effector with Winding and Scooping Functions for Handling Thin and Long Fabric Sheet

In this study, we propose a novel end-effector for grasping and sorting operations on various parts of garments on a cutting machine in a factory. Furthermore, we propose a method for grasping a whole fabric by folding it back and forth into a smaller size, reducing the space required for packing and sorting various parts of multiple fabrics, reducing the height motion requirements of the robot, and increasing the ability to handle multiple types of clothing simultaneously. Then, we evaluated the proposed end-effector and the motion trajectory at a factory using real T-shirt parts of various materials, and confirmed the feasibility of the proposed end-effector and method for use in factories.