关键词: 全成形针织物, 机器人颈关节, 包覆织物, 结构设计, 涤纶/氨纶包覆纱, 电脑横机, 人形机器人

Abstract:

Objective Humanoid robots require highly elastic flexible materials to cover and protect joints such as the neck and shoulders. However, existing flexible covering materials for robots primarily focus on sensor-equipped electronic skins, with limited consideration of shape-conforming and stretchable knitted fabrics for this application. Whole-garment flatbed knitting technology offers advantages like seamless shaping and precise fit, in addition to the intrinsic breathability of the fabrics. This study aimed to develop highly elastic knitted fabrics for covering robot neck joints using the whole garment knitting technology.

Method The multi-degree-freedom movement range and motion patterns of robot neck joints were analyzed to identify the need for high longitudinal elasticity and extensibility in the fabric. A design strategy combining elastic yarns (polyester/polyurethane fiber covered yarns) with purl stitch was adopted to achieve these properties. Based on the neck's 3-D curved shape and attachment requirements, a parameterized structural model for the covering was established. The fabric was integrally knitted on a Shima Seiki MACH2X four-bed flat knitting machine with optimized processing parameters. Post-heat-setting tensile tests were conducted on purl and plain knit fabric samples.

Results A seamless 3-D knitted fabric for neck joint coverage was successfully produced, showing smooth aesthetics and excellent elasticity. Both purl and plain knit samples exhibited tensile breaking strengths exceeding 500 N, breaking elongations over 200%, elastic recovery rates above 80% after three cycles, and plastic deformation rates was below 15%. Under 50 N load, purl-knit samples demonstrated greater longitudinal and transverse extensions than plain knits, with elongations exceeding 120% elongation rate in both directions.

Conclusion This study presents an innovative structural design and development method for high-elasticity whole-garment neck coverings. By integrating elastic yarns, stitch structures, and flatbed whole-garment knitting technology, the developed fabric achieves superior elasticity and shape adaptability. The approach provides new insights for creating seamless, stretchable robotic coverings, demonstrating the potential of knitted textiles in functional robotic applications.

Key words: whole-garment, robot neck joint, covering fabric, structural design, polyester/polyurethane fiber covered yarn, computerized flat knitting machine, humanoid robot