Abstract
The dissertation presents four mathematical models of the gripper mechanism that are characterized by different properties. The analysis has been conducted for grippers with an electric drive. For each model, the equations describing their kinematic and dynamie characteristics have been formulated. The equations have been solved numerically. The calculation results that illustrate a rheological reaction of the fabric to the operation of grippers are shown on diagrams.
The developed gripper has been patent at the Polish Patent Office in 27.09.2007 entitled "Device for gripping a single layer from the materiał stack" as the invention project no. P-368085.
A separation of the fabric layer from the stack has been analyzed on the basis of the gripper model in which the phenomenon of friction was employed. To evaluate the possibility of separating a single pattern from the fabric stack with the method described, a test stand including a gripper model based on the device that separates a single fabric layer has been built. The efficiency of separation of various types of woven and knitted fabrics has been experimentally investigated on a specially built test stand.
References
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