Automation of 3D sewing of two different shaped parts by robot arm - Evaluation and verification of the proposed method through experiments -

To realize the task of stitching the edges of semi-circular and rectangular parts together in three dimensions with a robot arm, we have proposed and studied several methods to feed the edges of the parts accurately including a guide-set or a semi-circular robot hand. To investigate the conditions suitable for automatic stitching of the target parts in three dimensions, we conducted some experiments of the combination of different proposed methods. The results showed that the guide-set was effective in assisting the sending of parts with regular sewing lines, and that when the robot hand gripped the part, the gripping surface should have the same shape as the sewing line of the part. Through a series of experiments and verifications, we were able to realize three-dimensional sewing of two different shaped parts by the robot arm. In this report, we describe the results of verification and evaluation of the proposed methods by experiments.