Clemson University

The United States of America As Represented by the Department of Commerce

Frank W Paul

Joey K Parker

Shlomo Avigdor

Kishore Subba-Rao

Wolfgang J Sauer

Robert L Hart

Method and apparatus for automated inverting and pressing of apparel components. A turning apparatus is provided for inverting run-stitched shirt collars or other apparel components and an automated pressing apparatus is provided for aligning a two-dimensional component so that a crease pressed therein will be located in the proper position.

Automated turning and pressing apparatus and method

Proximity sensors are used to sense impending contact, i.e., a point of close approach, between a finger of a robot hand and an object. Each finger is equipped with force sensors so that finger touch force with the object can be measured and controlled. The hand is controlled by a dedicated microprocessor, which communicates with a robot arm controller through 8 digital input/output lines. A novel 'bi-modal' control system uses information from the proximity sensors to control both solenoid (on/off) valves and a proportional servovalve which are alternatively switched into an operative mode in a pneumatic circuit which powers the pneumatic actuators of the hand. This control design achieves the two goals of rapid object acquisition and low interaction forces. Each finger of the hand is capable of implementing an acquisition strategy in which mislocated objects can be acquired.

Method and apparatus for controlling impact force during rapid robotic

An apparatus and method for translating an object held by at least two fingers of a robot hand to a predetermined position relative to a fixed point of the robot hand is disclosed. The apparatus comprises a linear potentiometer for sensing the position of each finger relative to the fixed point on the robot hand. A microcomputer identifies the finger at the greater distance from the predetermined position as the position-controlled finger, and identifies the other finger as the force-controlled finger. Pneumatic cylinders and valves impart movement to each finger. A pneumatic servovalve controls movement of the position-controlled finger according to the position of the position-controlled finger relative to the fixed point of the robot hand. In an alternative embodiment, the movement of the position-controlled finger is controlled according to both the position of the position-controlled finger and the position of the force-controlled finger. A pair of strain gages senses the force between the force-controlled finger and the object. Another pneumatic servovalve controls movement of the force-controlled finger according to the force sensed between the force-controlled finger and the object.

Method and apparatus for repositioning a mislocated object with a robot

A universal jig fixture for tree castings includes longitudinally spaced port blocks mounted on a base structure, the support blocks having top openings with converging, sloping sides that engage similarly shaped sides on the runner of the casting, and hold down clamps for pressing the runner down on the support blocks. The casting is longitudinally located by a stop engaging a sprue cup of the casting or an end stop on the support block. The sprue cup includes a spring finger cup, and the hold down clamp can be fluid actuated. Lateral and vertical location of the casting by the support blocks; longitudinal location of the casting is by the sprue cup stop or the end stop.

Growing community of inventors

Seneca, SC, United States of America

Frank W Paul