Journal of Textile Research ›› 2019, Vol. 40 ›› Issue (10): 177-182.doi: 10.13475/j.fzxb.20180903406

• Machinery & Accessories • Previous Articles     Next Articles

Planning of trajectory and optimization of speed control of hand-made tufting machine

ZHOU Hu(), LIU Tao, GAO Jinjie, ZHOU Qiang, LUO Binhong, YOU Zheng, SU Bingwang, BA La   

  1. College of Mechanical Engineering, Donghua University, Shanghai 201620, China
  • Received:2018-09-13 Revised:2019-06-04 Online:2019-10-15 Published:2019-10-23

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Abstract:

In order to reduce the mechanical vibration caused by the change of the processing path of hand-made carpet flocking machine so as to reduce the deviation of the flocking path and the base cloth and achieve the high quality hand-made carpet processed at a higher working speed, a method for trajectory planning and speed optimization control of hand-made carpet flocking was proposed. Hand-made carpet flocking robot's mechanical and electrical system architecture was first analyzed, and the flocking motion of multi-axis linkage relationships was realized; on the basis, the influence of the motion path on the mechanical vibration and flocking precision was studied, and the speed adaptive control strategies according to the size of the inflection point corner was put forward, and finally a method for realizing the coordinated motion control of the multi-axis system by a cubic spline function trajectory planner was studied. The results show that the optimal control method can effectively suppress the mechanical vibration in the process, and the maximum deviation of the measured path decreases from 5.8 mm to 0.6 mm, which improves the flocking efficiency on the basis of guaranteeing the quality of the carpet surface.

Key words: hand-made carpet, flocking robot, motion control, speed adaptive control, spline function trajectory planning

CLC Number: 

  • TS103.7

Fig.1

Schematic diagram of mechanical structure. (a) Overall mechanical structure of robot;(b) Flocking actuator"

Fig.2

Structure of electromechanical system"

Fig.3

Schematic diagram of stitch point. (a) Flocking stitch marks; (b)Turning point of stitch"

Fig.4

Example of machining error. (a) Straight line profile; (b) Circular arc profile"

Fig.5

Self-adaptive speed curve"

Fig.6

Displacement、velocity and acceleration curves of robot"

Fig.7

Hand-made carpet machine running scene. (a) Workshop operation scene;(b) Flocking close shot"

Fig.8

Carpet design drawing"

Fig.9

Offset map of the taping process"

Fig.10

Carpet surface under control scheme"

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