机器人自动拉伸对齐不同长度弹性布料并缝合，实现高精度直线缝制。
Automated Straight-line Sewing of Stretchable Fabrics with Different Lengths
- 用主动滚轮控制拉伸，实时匹配长短布料的长度差
- 四阶段流程确保缝制过程稳定，避免弹性布料滑脱
- 适用于多种材质和长度差异的弹性面料，适合工业自动化
不同长度对齐缝制（DLAS）是一种将较短布料拉伸至与较长布料对齐并直线缝合的挑战性任务，自动化需满足多项要求。为此，本文提出一种新型机器人缝制系统——不同长度机器人缝制系统（DLRoSS），由安装在6-自由度机械臂上的滚轮末端执行器组成。该执行器包含主动的短/长布料滚轮及与短布滚轮连接的被动压紧滚轮。假设两层布料一端初始位于缝纫机压脚下方，系统通过四个阶段自动完成DLAS：（P1）布料缠绕：分别抓取、夹持并从另一端缠绕到送料滚轮上；（P2）缝制：基于缝制速度与预先已知的长度比，通过滚轮速度控制实时拉伸短布以对齐长布；（P3）缝制完成：在最后缝制一圈时，压紧滚轮启动，防止因内应力导致拉伸布料滑落；（P4）布料释放：缝制结束后，布边越过压紧滚轮，布料从滚轮上释放。实验结果表明，DLRoSS可稳定、高质量地缝制不同材料和长度的弹性布料。
原文摘要 · Abstract (English)
Different Length Alignment Sewing (DLAS), which involves stretching the shorter fabric to match the longer one and sewing them together in a straight line, is a challenging task that needs to satisfy several requirements when automating the sewing process. To address the challenges, this research proposes a novel robotic sewing system, Different Length Robotic Sewing System (DLRoSS), which consists of a roller type end-effector, attached to a 6-DoF manipulator. The end-effector composed of active shorter and longer fabric rollers, and a passive press-roller attached to the shorter-fabric roller. Assuming that one end of the two fabric layers are initially positioned under the sewing machine's presser foot, the system automates DLAS by operating in four distinct phases. (P1) Fabric wrapping: Individual fabric layers are picked, held, and wrapped from the other end onto the feed rollers. (P2) Sewing: During the sewing, the shorter fabric is stretched and aligned with the longer fabric in real-time using roller velocity control based on the sewing speed and apriori known length ratio. (P3) Sewing completion: In the final sewing round on the fabric rollers, the press roller is engaged to prevent the stretched fabric from slipping off due to internal tension. (P4) Sewing fabric release: At the end of sewing, the fabric edge moves past the press roller, and the fabric releases from the rollers. Experimental results demonstrate that DLRoSS achieves consistent, high-quality sewing of stretchable fabrics of different materials and lengths.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。