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

RichHTML

17

PDF (PC)

110

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
[1] KIM M, SUL I H, KIM S. Development of a sewing machine controller for seam pucker reduction using online measurement feedback system[J]. Journal of Engineered Fibers and Fabrics, 2017, 12(2): 67-72.
[2] YOSHIMI T, TAKEZAWA K, HIRAYAMA M. An improvement of trajectory tracking accuracy of automatic sewing robot system by variable gain learning control[J]. IFAC-PapersOnLine, 2018, 51(22): 1-6.
[3] SHUNGO T. Development of fabric feed mechanism using horizontal articulated dual manipulator for automated sewing[C]// 2021 IEEE 17th International Conference on Automation Science and Enginee-ring(CASE).Lyon:IEEE, 2021: 1832-1837.
[4] GUIZZO E. Your next T-shirt will be made by a robot[J]. IEEE Spectrum, 2018, 55(1): 50-57.
[5] SCHRIMPF J. Automated sewing using conveyor belts[C]// 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA). Trondheim:IEEE, 2016: 1-4.
[6] SCHRIMPF J, MATHISEN G. Differential feed control applied to corner matching in automated sewing[C]// 2016 IEEE International Conference on Robotics and Automa-tion (ICRA). Stockholm:IEEE, 2016: 3894-3900.
[7] SCHRIMPF J, WETTERWALD L E. Experiments towards automated sewing with a multi-robot system[C]// 2012 IEEE International Conference on Robotics and Automation(ICRA). Minnesota:IEEE, 2012: 5258-5263.
[8] SCHRIMPF J, BJERKENG M, LIND M, et al. Model-based feed-forward and setpoint generation in a multi-robot sewing cell[C]// 2015 IEEE International Conference on Robotics and Automation (ICRA). Washington:IEEE, 2015: 2027-2033.
[9] SCHRIMPF J, LIND M, MATHISEN G. Real-time analysis of a multi-robot sewing cell[C]// 2013 IEEE International Conference on Industrial Tech-nology(ICIT). Cape Town:IEEE, 2013: 163-168.
[10] SCHRIMPF J, WETTERWALD L E, LIND M. Real-time system integration in a multi-robot sewing cell[C]//2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. Algarve: IEEE, 2012: 2724-2729.
[11] CHEN X, ZHANG Y, XIE J, et al. Robot needle-punching path planning for complex surface preforms[J]. Robotics and Computer-Integrated Manufacturing, 2018, 52: 24-34.
doi: 10.1016/j.rcim.2018.02.004
[12] BRIGGS C. Development of an automation platform for fabric manipulation and assembly[D]. Worcester: Worcester Polytechnic Institute, 2020:14-33.
[13] MELLERO P, BIEGAS S, CARVALHO H, et al. Monitoring and control of industrial sewing machines research on thread tension behavior in lockstitch machines[C]// 2017 International Conference on Engineering, Technology and Innovation (ICE/ITMC). Madeira Island:IEEE, 2017: 1031-1036.
[14] TRIANTAFYLLOU D, KOUSTOUMPARDIS P N, ASPRAGATHOS N A. Model reference fuzzy learning force control for robotized sewing[C]// 2011 19th Mediterranean Conference on Control & Automa-tion(MED). Corfu:IEEE, 2011: 1460-1465.
[15] KOUSTOUMPARDIS P N, ASPRAGATHOS N A. Intelligent hierarchical robot control for sewing fabrics[J]. Robotics and Computer-Integrated Manufacturing, 2014, 30(1):34-46.
doi: 10.1016/j.rcim.2013.08.001
[16] 王豪清, 童宏拓, 王祝兵, 等. 合成革及皮革与布料间的摩擦系数研究[J]. 中国皮革, 2016(11):4.
WANG Haoqing, TONG Hongtuo, WANG Zhubing, et al. Study on friction coefficient of synthetic leather and leather cloth[J]. China Leather, 2016 (11):4.
[17] 吴济宏, 于伟东. 针织面料的拉伸弹性与服装压[J]. 武汉科技学院学报, 2006, 19(1):21-25.
WU Jihong, YU Weidong. Tensile elasticity and clothing pressure of knitted fabrics[J]. Journal of Wuhan University of Science and Technology, 2006, 19(1): 21-25.
[18] 顾朝晖, 雒少娜. 针织服装面料缝制工艺参数的确定[J]. 纺织学报, 2015, 36(9):94-99.
GU Zhaohui, LUO Shaona. Determination of sewing process parameters of knitted fabric[J]. Journal of Textile Research, 2015, 36 (9): 94-99.
doi: 10.1177/004051756603600113
[1] ZHANG Jie, XU Chuqiao, WANG Junliang, ZHENG Xiaohu. Advancement in data-driven intelligent control system for roboticized textile production [J]. Journal of Textile Research, 2022, 43(09): 1-10.
[2] MAO Huimin, SUN Lei, TU Jiajia, SHI Weimin. Key technology for yarn automatic splicer [J]. Journal of Textile Research, 2022, 43(09): 21-26.
[3] LIU Feng, XU Jie, KE Wenbo. Real-time dynamic scheduling for garment sewing process based on deep reinforcement learning [J]. Journal of Textile Research, 2022, 43(09): 41-48.
[4] CHEN Zhijie, YU Yihao, FU Ye, LEI Pengfei, JIANG Jikang, QI Dongming. Preparation and properties of flexible flame retardant polyamide coated fabric via wet coating [J]. Journal of Textile Research, 2021, 42(11): 110-116.
[5] YANG Lu, XUE Tao, MENG Jiaguang, YANG Doudou. Anion functional finish and properties of 3D printed flexible garment fabrics [J]. Journal of Textile Research, 2021, 42(08): 102-108.
[6] ZHANG Siyu, YU Li, JIA He, LIU Xin. Free form deformation modeling method and inflation mechanism of folded canopy fabrics [J]. Journal of Textile Research, 2021, 42(07): 108-114.
[7] . Kinematics analysis and dimension synthesis of beating-up mechanism for carbon fiber multi-layer loom [J]. JOURNAL OF TEXTILE RESEARCH, 2017, 38(11): 137-142.
[8] . Kinematic analysis of eccentric belt drive mechanism and its application in drawing frame [J]. JOURNAL OF TEXTILE RESEARCH, 2016, 37(12): 117-122.
[9] . Study on simulation of flexible fabric bend surface based on four-point interpolation method [J]. Journal of Textile Research, 2015, 36(06): 50-54.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
京ICP备14006648号
Copyright 2021 © Editorial office of Journal of Textile Research
Supported by Beijing Magtech Co.Ltd