Research On Uniaxial Suture Manipulator System Of Textile Composites And Its Suture Behavior

In view of the limit of suture position and flexibility of the traditional two-sides sewing technique during the process of manufacturing the three-dimensional large composite structures, this paper does the following researches centering on one-side sewing technology and the corresponding robot sewing equipment:Based on "two needles and one thread" theory, the method of one-side stitch forming of the textile composites was researched,and the one-side sewing device was designed.At the same time,the adjustable thread-leading and thread-hooking mechanisms was designed for adapting to different sewing environment, and the workspace of the sewing mechanism was calculated. Then the kinematic model of thread-leading, thread hooking and take-up mechanisms were established using the plural vector method.Then the movement change rule of the mechanisms were obtained,and verify the rationality of mechanism design.After that, a prototype of one-side sewing device was manufactured.This paper studied the one-side sewing behavior,the design method of stitches parameter basing on contact mechanics and strength theory from the respect of stitches mechanical behavior. On the basis of analyzing the mechanism of forming ideal thread loop, stitch length and puncturing distance of the suture needle was determined from the respect of forming ideal thread loop. Then the actions cooperate relationship of these mechanism for guaranteeing the completion of suturing was designed and planed,and the phase difference between the crank angle was determined by analyzing the relationship between the institutional angle and the needle displacement. At the same time, in order to make sure the stable quality control of continuous stitch forming, the analytical model of instantaneous amount of suture demanding and supplying on basis of the balance between suture supplying and demanding was established for guaranteeing the stability of stitch forming. Providing theory basis for the quality control of continuous stitch forming.And then this paper studied sewing path planning and off-line programming technology on account of the seam of space free-form profile.the stitch contour line of the sewing seam was extracted on basis of rational B spline curve theory,and the program to disperse the contour line was write. Then the path of stitches coordinate system of one-side sewing manipulator was planed, and the kinematic model of D-H reference frame was established. And then the workstation of sewing robot system was set up.According to the result of motion simulation about path planning of space free-form profile in the off-line programming module,the rationality of theoretical research has been verified.What’s more, a one-side sewing manipulator prototype was manufactured and the corresponding control system components were set up. After debugging this prototype, some experiment was conduct,using 3-d braiding composites with multiple sets of different stitching parameters, and the performance of one-side sewing robot was investigated.