发表机构
The University of Hong Kong; Centre for Transformative Garment Production（香港大学; 创新服装生产中心）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本研究针对不同长度可拉伸织物的直线自动化缝纫难题，提出新型机器人缝纫系统DLRoSS，通过四阶段流程实现对齐缝纫，实验验证其可完成不同材料和长度织物的高质量缝纫。
AI 中文摘要
不同长度对齐缝纫（DLAS）是一项具有挑战性的任务，涉及将较短织物拉伸至与较长织物匹配并将二者直线缝纫，在自动化缝纫过程中需满足多项要求。为应对这些挑战，本研究提出一种新型机器人缝纫系统——不同长度机器人缝纫系统（DLRoSS），其由安装在6自由度（6-DoF）机械臂上的辊式末端执行器构成，该末端执行器包含主动的较短织物辊、较长织物辊，以及安装在较短织物辊上的被动压辊。假设两层织物的一端初始位于缝纫机压脚下，该系统通过四个不同阶段实现DLAS自动化：（P1）织物包裹：拾取、固定各层织物，并将其从另一端包裹到送料辊上；（P2）缝纫：缝纫过程中，基于缝纫速度和先验已知的长度比，通过辊速控制实时拉伸较短织物并使其与较长织物对齐；（P3）缝纫完成：在织物辊上的最后一轮缝纫中，压辊接合以防止拉伸后的织物因内部张力滑脱；（P4）缝纫织物释放：缝纫结束时，织物边缘越过压辊，织物从辊上释放。实验结果表明，DLRoSS可对不同材料和长度的可拉伸织物实现一致、高质量的缝纫。
英文摘要
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.
Comments9 pages. Published in IEEE Robotics and Automation Letters, 2025
Journal refIEEE Robot. Autom. Lett. 10 (2025) 12165-12172
