ニット生地の直線縫製における姿勢変動抑制制御

抄録

In this study, we have developed an automation technology for sewing operation. In particular, we have developed an automatic straight-line sewing technology for rectangular knitted fabric with high elasticity and flexibility. There, the straight-line sewing is automatically performed along the target path of the straight-line sewing with a fixed seam allowance at the edge of the fabric. In general, the posture of the fabric fluctuates during sewing, so it is necessary to compensate for the fluctuation by posture control. For this purpose, the proposed device controls two types of arm mechanisms that play the role of both hands, following the sewing work of an experienced operator. However, depending on the driving direction of the arm, a deflection of the fabric occurs, making it difficult to correct the posture. Therefore, we propose a method which overcomes this problem by devising the driving direction of the arm. The effectiveness of the proposed method has been verified by experiments.