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Automated assembly of fabrics with different contours

: Seliger, G.; Gottschalk, T.; Stephan, J.

Italian Machine Tool Manufacturers' Association; Italian Society for Industrial Robots; International Federation of Robotics:
27th International Symposium on Industrial Robots 1996 : 6. - 8.10. 1996, Milano
Mailand, 1996
International Symposium on Industrial Robots <27, 1996, Mailand>
Conference Paper
Fraunhofer IPK ()
automated sewing machine; kinematic; process modeling

To achieve a three-dimensional form of clothing a sophisticated joining of pieces of fabrics is required. Different lengths and contours have to be fit. A planning system has been realised to achieve the geometrical adaptation with respect to the different material properties of fabrics. Today, only a highly skilled seamstress can operate sewing machines to fulfil these requirements. This paper presents an approach for flexible automation of sewing processes. The distribution of stitching points for planning the seam paths of the pieces to be sewn are calculated based on experimentally investigated fabrics properties. The movement commands for fabrics transport are calculated from the task requirements for sewing. Different methods for sewing both sharply- and gently curved are derived. Finally, a roller feeding device for sewing gently curved pieces has been realised to demonstrate the effectiveness of this approach.