Journal of Textile Research ›› 2025, Vol. 46 ›› Issue (12): 116-122.doi: 10.13475/j.fzxb.20250306001

• Textile Engineering • Previous Articles     Next Articles

Structural design of robot neck joint covering using whole-garment knitting technology

SHI Binlin, DONG Zhijia(), MA Pibo, CONG Honglian, WU Guangjun, LIU Bo   

  1. Engineering Research Center for Knitting Technology, Ministry of Education,Jiangnan University, Wuxi, Jiangsu 214122, China
  • Received:2025-03-26 Revised:2025-06-02 Online:2025-12-15 Published:2026-02-06
  • Contact: DONG Zhijia E-mail:dongzj0921@163.com

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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

CLC Number: 

  • TS184.5

Tab.1

Degrees of freedom in humanoid robot necks and covering materials"

品牌 型号 自由度 包覆方式
特斯拉 Optimus Gen 2 2 柔性包覆
优必选 Worker X 3 硬壳包覆
小米 Cyber one 1 硬壳包覆
傅利叶 GR-2 ≥2 柔性包覆
小鹏 IRON ≥2 柔性包覆
智元 远征A2 ≥1 无包覆
宇树 H1 0 无包覆
开普勒 K1、K2 2 硬壳包覆
1X Technologies NEO ≥2 穿着连体服饰
乐聚 KUAVO-MY 2 无包覆
星海图 R1 Pro 2 无包覆
星动纪元 STAR1 2 硬壳包覆

Fig.1

Neck joint movement and deformation of neck wrap fabric"

Fig.2

Stretch deformation of purl stitch"

Fig.3

Shape of neck wrap fabric. (a) 3-D shape diagram;(b) 2-D unfolded diagram"

Fig.4

Fixing method of upper and lower ends of neck wrap fabric"

Fig.5

Process diagram of front (a) and rear (b) pieces of neck wrap fabric"

Fig.6

Purl knit structure diagram"

Fig.7

Rib knit structure diagram"

Fig.8

Patterned paper(a) and loop structure(b) diagram of transfer stitch eyelet"

Tab.2

Size of neck wrap fabric"

长度编号 尺寸/cm 针数/转数 宽度编号 尺寸/cm 针数/转数
H1 0.6 9(罗纹) D1 18.4 212
0.9 18(双反面) D2 7.5 86
H2 3.0 60 D3 11.5 132
H3 4.0 80 D4 13.6 156
H4 5.3 106 D5 10.8 124
H5 1.6 33
H6 1.3 26
H7 1.1 22
H8 1.8 36
H9 1.1 22
H10 1.2 18

Fig.9

Physical image of neck wrap fabric for robots. (a) Vertical view;(b) Side view"

Tab.3

Results of fabric tensile test"

试样 断裂
强力/N		 断裂
伸长率/%		 弹性
回复率/%		 塑性变形
率/%
双反面 横 620.1 268.10 89.7 10.9
纵 764.9 278.43 84.7 14.5
纬平针 横 586.2 261.60 89.2 9.1
纵 797.4 221.00 87.6 9.7

Fig.10

Tensile curve of elastic fabric with purl stitch and plain stitch"

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