纺织学报 ›› 2022, Vol. 43 ›› Issue (09): 27-33.doi: 10.13475/j.fzxb.20210608307

• 特约专栏:纺织智能制造与机器人 • 上一篇    下一篇

面向柔性面料立体缝纫的随形机械手设计

高晓飞, 齐立哲(), 孙云权   

  1. 复旦大学 工程与应用技术研究院, 上海 200433
  • 收稿日期:2021-06-30 修回日期:2022-06-01 出版日期:2022-09-15 发布日期:2022-09-26
  • 通讯作者: 齐立哲
  • 作者简介:高晓飞(1989—),男,助理工程师,硕士。主要研究方向为机器人机构设计与应用技术。
  • 基金资助:
    广东省季华实验室重大共性技术研究项目(Y80311W180);上海市人工智能重大专项资助项目(2021SHZDZX0103)

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 Published:2022-09-15 Online:2022-09-26
  • Contact: QI Lizhe

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摘要：

针对服装制造业中柔性面料自动化立体缝纫加工难、加工质量稳定性差的问题,提出了一种适用于柔性面料自动化立体缝纫的随形机械手装置。首先分析了缝纫工艺,设计出一种随形机械手结构;其次对该结构进行位置、速度和加速度,以及机械手工作空间的分析;最后对该机械手结构进行力学分析和验证。结果表明:该结构形式的机械手可对袖口直径范围为200~260 mm的袖片具有自适应性,并可实现基于力反馈控制的自动撑紧功能,不会对面料产生损伤,该机械手还可实现自动调布功能,且单手指调节范围为-12.6~16.8 mm,相对误差为4.34%,最大误差值为0.7 mm,可满足实际的缝纫工艺需求。

关键词: 立体缝纫, 柔性面料, 并联机构, 随形机械手, 运动学分析, 智能制造

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

中图分类号: 

  • TP23

图1

T恤衣袖轨迹示意图"

图2

袖片尺寸图"

图3

袖片等分误差图"

图4

4-HPP6R随形机械手三维示意图"

图5

平面连杆机构示意图"

图6

铰链结构矢量图"

图7

连杆结构运动规律曲线图"

图8

机械手爪工作空间"

图9

机械手爪受力分析图"

图10

单手指调节过程"

图11

压力与时间关系图"

图12

机械手实验平台"

表1

手爪单指调节精度实验结果"

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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