Parallel kinematic sewing unit

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Figure 1: Parallel kinematics versus industrial robots in use for sewing FRCs

Existing industrial robot sewing machines achieve stitch speeds of approx. 500 stitches per minute. The aim of this research project is to develop a machine that achieves at least twice the stitch speed with sufficient seam quality for economic reasons. This requires the development of a correspondingly fast sewing technique. At the same time, the process-related, vibration-inducing, highly dynamic loads during the sewing process must be compensated for.

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In the present research project, a parallel kinematic sewing unit (PARASEW 1000) is being developed, built and tested in cooperation with the Institute of Textile Technology (ITA) at the RWTH Aachen University. This consists of a parallel robot, a compensation unit and a sewing head. The parallel robot is designed in such a way that the given working area is fulfilled. In addition, it should have a high stiffness so that the occurring dynamic loads do not negatively influence the movement accuracy and thus also the seam quality. The compensation unit is designed to synchronize the movement of the sewing head and the continuous robot motion. Furthermore, it is to realize the necessary mass force compensation. The modelling of the compensation mechanism, the parallel structure and the sewing head must be formulated in a general way, so that the transferability of the investigations to other sewing heads and the use of different compensation mechanisms are ensured. The sewing head is to be developed in such a way that seams are produced with the required quality and sewing speed. A monitoring system should be installed on the sewing head to ensure reliable seam quality. A suitable control concept for this purpose is to be determined and optimized by means of model simulation and accompanying sewing tests.


Publication on the topic:

[1] Kordi, M.; Schulz, H.; Mbarek, T;. Corves, B.; Gries, T.: Gearbox engineering developments in the one-sided ITA sewing process. In: 10th Chemnitzer Textile Machinery Conference. Support association Cetex Chemnitzer Textilmaschinenentwicklung e. V. (Cetex Chemnitzer Textile Machinery Development Association) inter alia], Chemnitz 26/27 October 2005

[2] Kordi, M.; Mbarek, T.; Corves, B.: Synthesis of a new mechanism for needle guidance in a sewing machine with single-sided sewing technique. In: Proceedings of EuCoMeS, the? rst, European Conference on Mechanism Science; Obergurgl (Austria), February 21-26 2006

[3] Mbarek, T.; Kordi, M.; Hüsing, M.; Corves, B.: Robot-supported one-sided stiching technique for fibre reinforced composites materials. In: CIFMA01 IFCAM01,1st International Francophone Congress for Advanced Mechanics; Aleppo (Syria); MAY 02-04 2006

[4] Mbarek, T.; Kordi, M.; Hüsing, M.; Corves, B.: Realization of high-dynamic sewing plant for fibre-reinforced composite based on parallel manipulator. In: ISR 2006,37th International Symposium on Robotics and Robotic 2006,4th German Conference on Robotics; May 15 - 17,2006

[5] Mbarek, T.; Nefzi, M.; Kordi, M.; Corves, B.: Kinematics and Kinetics of a High-Dynamic Sewing Plant for FRC-Material Based on Parallel Manipulator. In: CMSM2007,2nd World Congress Design and Modelling of Mechanical Systems 2007; Monastir (Tunisia); Marsh 19 - 21,2006

[6] Kordi, M.; Mbarek, T.; Hüsing, M.; Corves, B.: Systematical Development of a one-sided Sewing Machine for Robot-supported 3D-Sewing by automated Manufacture of Fibre reinforced Composite Structures. To appear in: Mechatronics 2007, Wiesloch, May 23 and 24,2007


Acknowledgment

The Institute of Mechanism Theory, Dynamics of Machines and Robotics and the Institute of Textile Technology would like to thank the German Research Foundation (DFG) for the support of the research project "PARASEW1000" (Co 282/4-1; Gr 1311/5-1)

 

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RWTH Aachen University

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