Automated Stack Singulation for Technical Textiles Using Sensor Supervised Low Pressure Suction Grippers

Abstract

Automated handling of technical textiles poses major challenges on modern handling systems. Previous research has shown that using suction grippers is feasible for handling processes involving textiles. However, separating individual sheets of air-permeable materials from a stack using such grippers is a nontrivial task. This paper details an automated stack singulation process using low pressure suction grippers leveraging online data from differential pressure sensors to control the singulation process. Subsystems are analyzed to derive a governing model representation of the process. This model is deployed on a robotic test rig validating the process in experimental analysis. Using this approach, a controlled singulation process for stacked carbon fiber mats has been achieved with a success rate exceeding 99% showing the practicality of controlling the internal suction pressure for advanced handling processes using low pressure suction grippers. Further improvement could be achievable by incorporating and fusing multiple sensor principles.