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Robotization of equipment intended for the shoe industry involves the use of special tools that are applicable when working with materials such as leather and materials similar in properties to natural leather. The technological process of manufacturing shoe uppers from genuine leather or similar materials is the formation of unique parts each time the assortment changes. Thus, there is a need to develop a device that will be freely configured to fit the shape of unique parts and extract them from the cutting mat, moving the cut parts to the assembly area. The solution to this technological problem is to create a configurable gripper for the manipulator, containing fixed and movable rails, the mobility of the latter being provided by motors. In turn, the movable rails have gripping elements, which can be of various types (suction cups, needles, pin clamps). The number of gripping elements installed is 4 – one on each side of the movable rail. The purpose of the study is to eliminate the unjustified diversity of possible options for gripping elements applicable to flat and flexible parts, and to establish certain patterns and recommendations for their selection. The studies were conducted empirically using the following methods: observation, comparison, measurement and experiment. Based on the results of the conducted research, the following was established: for extracting cut parts from a cutting mat of genuine leather, it is recommended to use suction cups manufactured by SCHMALZ (Germany) SFF 20 rubber, SFF20 polyurethane, SPF 17. The results of the research can be recommended for enterprises in the shoe and textile industries where robotic lines and vacuum tools are used.
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Chukasova-Ilyushkina, E. V. Configurable Manipulator Grip / E. V. Chukasova-Ilyushkina, E. S. Danilov // Materials and Technologies. - 2024. - № 2 (14). - P. 31-40. - DOI: 10.24412/2617-149X-2024-2-31-40.
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27.12.2024