Hand spinning has features that it is suitable for production of a lot kinds of yarn on small quantity and the shape of the yarn can be changed easily. But this spinning method is hardly used at present because the spinner has to have a professional skill and both the productivity and yarn quality are bad. If the hand spinning is robotized, the above weak points can be over covered, and a special yarn can be possibly produced. In this paper, at first, a hand spinning robot has been developed by measuring and anaylzing the hand spinning process. Next, hand spinning by human was compared with that by the robot. The compared result shows, in the case of spinning by human, when yarn diameter is set as a control object, yarn tension variation is small and it has a tendency to a constant value, but when yarn tension is set as a control object, the unevenness of yarn is big. However, in the case of the spinning by the robot, when yarn tension is set as a control object, the unevenness of yarn becomes small, and the mean yarn diameter is almost in proportion to a set yarn tension. It would be considered that a mean yarn diameter could be selected optionally by changing set yarn tension.
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