Journal of Textile Research ›› 2022, Vol. 43 ›› Issue (09): 27-33.doi: 10.13475/j.fzxb.20210608307

• Invited Column: Textile Intelligent Manufacturing and Robotics • Previous Articles     Next Articles

Design of shape-following manipulator for three-dimensional sewing of flexible fabrics

GAO Xiaofei, QI Lizhe(), SUN Yunquan   

  1. Academy for Engineering & Technology, Fudan University, Shanghai 200433, China
  • Received:2021-06-30 Revised:2022-06-01 Online:2022-09-15 Published:2022-09-26
  • Contact: QI Lizhe E-mail:qilizhe@fudan.edu.cn

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Abstract:

Aiming at the problems of difficult processing and poor stability in processing quality of automatic three-dimensional sewing of flexible fabrics in the garment manufacturing industry, a shape-following manipulator suitable for automatic three-dimensional sewing of flexible fabrics was proposed. The sewing process was analyzed initially and a shape-following manipulator was designed. The position, velocity and acceleration of the manipulator and its workspace were analyzed, before the mechanical analysis and verification of the manipulator structure were carried out. Experiment results show that the manipulator can adapt to the sleeve with cuff diameter ranging from 200 mm to 260 mm. It can automatically tighten the fabrics according to the force feedback without damage to the fabrics. The manipulator can automatically adjust fabrics, and the one finger adjustment range was -12.6-16.8 mm. The relative error of the experiments was 4.34%, and the maximum error was 0.7 mm, which meets the actual sewing process requirements.

Key words: three-dimensional sewing, flexible fabric, parallel mechanism, shape-following manipulator, kinematics analysis, smart manufacturing

CLC Number: 

  • TP23

Fig.1

Schematic diagram of T-shirt upper sleeve track"

Fig.2

Size chart of sleeve piece"

Fig.3

Sleeve piece bisection error diagram. (a) Sleeve piece bisection; (b) Sleeve piece quadrant; (c) Sleeve piece hexagram; (d) Sleeve piece octave"

Fig.4

Three-dimensional schematic diagram of 4-HPP6R shape-following manipulator"

Fig.5

Schematic diagram of planar linkage mechanism"

Fig.6

Vector diagram of hinge structure"

Fig.7

Motion law curve of connecting rod structure. (a) Relationship between α1 and t; (b) Relationship between β1 and t; (c) Relationship between φ1 and t; (d) Relationship between ω1 and t"

Fig.8

Working space of manipulator. (a) xz plane view; (b) yz plane view; (c) xy plane view"

Fig.9

Force analysis diagram of manipulator. (a) Front view; (b) Side view"

Fig.10

Single finger adjustment process. (a) One finger up adjustment; (b)One finger down adjustment"

Fig.11

Force versus time diagram"

Fig.12

Experimental platform of manipulator. (a) Control module;(b) Execution module"

Tab.1

Experimental results of claw adjustment"

时间/s 向上调整面料 向下调整面料
理论值/mm 实际值/mm 误差值/mm 误差率/% 理论值/mm 实际值/mm 误差值/mm 误差率/%
0.1 4.2 4.1 -0.1 2.44 4.2 4.3 -0.1 2.32
0.2 8.4 8.1 -0.3 3.70 8.4 8.2 -0.2 2.43
0.3 12.6 12.7 0.1 0.79 12.6 12.1 -0.5 4.13
0.4 16.8 16.1 -0.7 4.34 16.8 12.3 -4.5 26.80
0.5 21.0 16.2 -4.8 22.90
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