Increase of horizontal stiffness for fixing mobile machine with vacuum pad by using filament tapes

Abstract

This paper presents a method to increase fixing stiffness of mobile machine by using filament tapes. Mobile machine moves on a large workpiece for cutting, drilling, welding, and cleaning, etc., so for those works. The vacuum pads are generally used for attaching or detaching objects frequently. Of course, if the object is a metal body, the magnetic force can be used. The vacuum pads have an advantage that it can be used regardless of the magnetic property of the object, but it has a disadvantage that the fixing stiffness is not strong because the material is rubber. That’s why it is difficult to maintain the accurate position of the mobile machine as it could be shaken when being moved or fixed. Thus, this study proposed a method to increase the horizontal fixing stiffness of the mobile machine by using filament tapes to the side of the vacuum pads which compensate the shortcoming of the vacuum pads. Filament tapes are made by inserting special material filaments which have high rigidity into an existing tape to increase tensile strength. In the configuration of the proposed method, the vacuum pad forms the vertical fixing stiffness by suction force, and the filament tape forms the horizontal fixing stiffness by adhesive force. In order to verify the effectiveness of the proposed method, the experimental equipment to measure the fixing stiffness was fabricated, and the comparison experiment was carried out. First, the horizontal fixing stiffness of the vacuum pads and the filament tape was measured respectively as a baseline data, and then the same measurement of the combination of them was performed for the comparison. In addition, another experiment for comparison between Gecko films and filament tape was performed. The results showed that the horizontal fixing stiffness was significantly increased when the filament tape was used together with the vacuum pads, and the Gecko film was not as much effective as the filament tape in terms of the strength of the stiffness. On the other hand, the filament tape needs to be replaced with a new one after several times use. So we developed the automatic filament tape supplier and examined its applicability through experiments.