面向自动化生产的柔性面料抓取技术研究进展
Review of Flexible Fabric Grasping Technologies for Automated Production
摘要: 随着服装产业智能制造和机器人技术的发展，柔性面料的自动抓取与转运已成为实现服装生产自动化的重要环节。与传统刚性物体相比，面料具有低刚度、高柔顺性、易变形、易褶皱以及材料表面特性差异明显等特点，使其在抓取过程中容易出现滑移、变形、损伤及多层连带等问题，对抓取机构的适应性和稳定性提出了较高要求。针对柔性面料自动抓取问题，本文从抓取作用机制出发，对现有面料抓取技术进行分类综述，主要包括机械夹持、针刺式抓取、软体抓取、真空负压吸附、静电吸附以及非接触气动吸附等技术。分别介绍各类抓取技术的基本原理、典型研究进展及适用对象，并从抓取稳定性、面料适应性、无损性、定位精度以及制造与运行成本等方面对不同技术进行综合比较。在此基础上，分析当前柔性面料抓取技术面临的材料适应性、抓取状态感知及复杂环境下稳定控制等瓶颈问题，并对多机制融合及复杂工况下的自适应抓取等发展方向进行展望。本文可为柔性面料自动抓取机构的设计及服装自动化制造系统的构建提供参考。
Abstract: With the development of intelligent manufacturing in the apparel industry and robotics technology, the automated grasping and transfer of flexible fabrics have become a crucial link in realizing garment production automation. Compared to traditional rigid objects, fabrics are characterized by low stiffness, high compliance, susceptibility to deformation and wrinkling, and significant differences in surface properties. These characteristics make them prone to slipping, deformation, damage, and multi-layer entanglement during the grasping process, thus imposing higher requirements on the adaptability and stability of grasping mechanisms. Addressing the challenges of automated flexible fabric grasping, this paper classifies and reviews existing fabric grasping technologies based on their grasping mechanisms. These primarily include mechanical clamping, needle-based grasping, soft grasping, vacuum negative pressure adhesion, electrostatic adhesion, and non-contact pneumatic adhesion. The basic principles, typical research progress, and applicable materials for each grasping technology are introduced. Furthermore, a comprehensive comparison of these technologies is conducted regarding grasping stability, fabric adaptability, non-destructiveness, positioning accuracy, and manufacturing and operational costs. On this basis, the paper analyzes the current challenges faced by flexible fabric grasping technologies, such as material adaptability, grasping state perception, and stable control in complex environments. It also envisions future development trends, including multi-mechanism fusion and adaptive grasping under complex working conditions. This paper aims to provide a reference for the design of automated flexible fabric grasping mechanisms and the construction of automated garment manufacturing systems.
文章引用：薛利娟, 王燕. 面向自动化生产的柔性面料抓取技术研究进展[J]. 机械工程与技术, 2026, 15(5): 531-542. https://doi.org/10.12677/met.2026.155050

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