Computer-Aided Engineering and Mechatronics

This research project combines computer-aided-engineering methods with practical control strategies to develop precise fabric handling capabilities. The primary goal is to develop mechatronic design concepts for assembly processes such as: folding, joining, placing, and locating that take into account variability in fabric material properties such as weight and stiffness. Three-dimensional modeling of fabric drape and manipulation using the finite element method has been simplified for the design of fabric handling control systems. Iterative algorithms for fabric folding with precise position control were developed and experimentally implemented. A robot system folds the fabric, measures the resulting position using a vision system, and corrects the folding trajectory. The system adapts to changing fabric parameters, friction, and folding speed. Position errors of less than 1.2 mm are achieved within 6 folds for limp fabrics. Stiff fabrics require more complex control algorithms and additional folds to obtain similar position errors. I. PROJECT GOALS AND RELEVANCE TO NTC GOALS The key question and challenge for this research project is: Can computer-aidedengineering techniques commonly used in the automotive and aerospace industries be applied to the design and development of fabric handling equipment? And, can the machinery be designed to accommodate multiple part configurations (shape, thickness, etc.) and material properties (weight, stiffness, etc.)? The major objective of this research project is then to combine computer-aidedengineering methods with practical control strategies to develop precise fabric handling capabilities. The primary goal is to develop mechatronic design concepts for assembly processes such as: folding, joining, placing, and locating that take into account variability in fabric material properties such as weight and stiffness. Advanced three-dimensional modeling of fabric drape and manipulation using the finite element method will be simplified for the design of fabric handling control systems. Controls that stabilize the fabric National Textile Center Annual Report: November 1996 223