Automated Straight-Line Sewing of Stretchable Fabrics With Different Lengths

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 pr...

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Vydané v:IEEE robotics and automation letters Ročník 10; číslo 11; s. 12165 - 12172
Hlavní autori: Jin, Bingchen, Kobayashi, Akinari, Bhattacharya, Dipankar, Seino, Akira, Tokuda, Fuyuki, Tien, Norman Chihnan, Kosuge, Kazuhiro
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Piscataway IEEE 01.11.2025
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:
End effectors
Fabrics
Feeds
Fixtures
Grasping
Grippers
Grippers and other end-effectors
mechanism design
methods and tools for robot system design
Presses
Real time
Robot sensing systems
Robots
Rollers
Sewing
Straight lines
ISSN:2377-3766, 2377-3766
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Shrnutí: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.
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2025.3619791