面向柔性面料立体缝纫的随形机械手设计

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

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。

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.