Research On Suture Collaborative Robot Based On Force Field Couplin

The garment industry is an important industry in China’s development and is the pillar industry of China’s economy.The traditional manual sewing clothing has been unable to adapt to the development of The Times,the future clothing will be towards small batch,multi-type unmanned production,and the unmanned development of clothing can not be separated from the support of robots for the clothing industry.In the past,it was artificial to sew fabric with experience,without a set of theoretical support,so there was no theoretical support for the robot in the process of garment sewing,which could not ensure the sewing quality,resulting in a low level of automation in the garment industry.Therefore,this paper proposes to use two collaborative robots instead of manual labor,and install auxiliary feeding and discharging devices at the end to complete the sewing of the fabric.The relationship between the multi-force field of the fabric and the fabric organization of the collaborative robot in the sewing process is studied to ensure the quality of the fabric sewing.Firstly,a multi-field coupling model of fabric in the sewing process is constructed.This paper takes knitted weft fabric as an example,constructs fabric structural unit model,and analyzes the effect of fabric structure on puncture force.Then,the force of the fabric in the sewing process was analyzed,and the multi-force coupling model of the fabric in the sewing process was established,and the simulation software was used to verify and analyze the model.Through the multi-force coupling model to extract the processing parameters,the sewing quality of the fabric could be improved.Secondly,collaboration with Mycobot collaborative six degrees of freedom robot as the research object,according to the structural parameters of collaboration Mycobot collaborative six degrees of freedom robot,the robot’s forward kinematics equation is established,then the robot inverse kinematics equation is established using analytic method,then USES Admas software to verify the validity of the robot kinematics model,Preparation is made for the subsequent trajectory planning and experimental platform construction of two collaborative robots.Finally,the trajectory planning and experimental platform are built for the cooperative robot.In this paper,ROS robot operating system is used to build a simulation platform to complete the trajectory planning of the robot.The communication between the two robots was completed through the serial port.PLC was used as the lower machine to build the cooperative automatic sewing experimental platform equipped with two Mycobot 6-DOF cooperative sewing robots and an industrial sewing machine.Based on the mechanical properties of the fabric,a coupling model of the force field in the process of fabric sewing was innovatively established,and a collaborative automatic sewing platform was built.Established using multiple field coupling model on the basis of the mechanical properties of fabrics and fabrics properties that match the sewing process parameters,the processing technology of the extraction parameters automatically by the collaborative experiment platform of finished fabrics sewing,sewing clothing industry not only realizes the unmanned,automatic mode of production,and meet future clothing industry the development trend of batch,variety,Improve the quality of fabric sewing.The research results can provide a new method for the intelligent matching of fabric sewing process and fabric properties in automatic and unmanned production line in the future.