Search results

The paper aims to present the design, validation and integration of a universal fabric gripper. Flexible material handling is one of the most challenging problems occurring in the field of manipulator robots. Because textile products shape and properties can widely vary, each textile and each technological operation should have its own specialized gripper. The objective of the work described here is therefore to design a universal gripper able to grip and transfer every kind of textile.

The design objectives are the ability to handle panels of varying shapes and sizes without material deformation and/or folding, and the easy integration with commercially available manipulator robots. To answer initial requirements and increase the textile gripping reliability, we opted to combine three different gripping technologies: vacuum, intrusion and pinch.

Each system was first validated independently through static tests. The vacuum technology offers a high reliability to handle impermeable materials. The intrusion technology is reliable for the manipulation of high porosity materials, while the pinch technology shows good results for all soft fabrics when combined with the vacuum technology. Then, the limits of the new gripper in terms of gripping capacity, compressed air consumption and characteristics and limitations of the flexible material handled were put in evidence using a robot arm. An automated selection program of the gripper based on the material characteristics has also been developed and implemented.

This paper fulfills an identified need to design a universal gripper able to grip and transfer every different kind of cut textile.

The purpose of this paper is to study the effect of gamma-rays on murexide (Mx) dye and its possible use as radiation dosimeters in two different dosimetry systems. The first system depends on the Mx dye as a liquid dosimeter. The second dosimetry system depends also on the same dye but as in a gel form, which is more sensitive to gamma-rays.

The prepared Mx (solutions/gels) have a considerable two peaks at 324 and 521 nm that upon irradiation, the intensity of these peaks decreases with the increasing radiation dose.

The gamma-ray absorbed dose for these dosimeters was found to be up to 2 kGy for the solution samples and 40 Gy for the gels. Radiation chemical yield, dose response function, radiation sensitivity and before and after-irradiation stability under various conditions were discussed and studied.

It is expected that the radiolysis of the Mx dye can be used as radiation dosimeters in two different dosimetry systems; liquid and gel dosimeters. This can be applied in a wide range of gamma radiation practical industrial applications in water treatment, food irradiation dosimeters, radiotherapy and fresh food irradiation and seed production.

Both of the prepared Mx dyes, either as solutions or gel samples, can be facilely prepared from commercially, cheap, safe, available chemicals and suitable for useful applied Mx solutions and gels radiation dosimeters.