Computer-Aided Engineering and Mechatronics in the Design of Apparel Equipment

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.