SAMPE Journal - July/August 2022 - 18
FEATURE / THREE-DIMENSIONAL STITCH PATHS
related to each other, but the development of the
paths is presented herein by first describing the
logic by which the stitching is controlled, followed
by the description of how that logic informs and
dictates the control programming. Additionally,
because the double-sided RS566 stitching head has
only a single needle, it is less affected by the path
curvature, and can be considered to be a subset of
the single-sided RS535 stitching head as it applies
to developing and defining the stitching path.
Therefore, the remainder of this section focuses
mainly on the RS535 stitching head, and where
appropriate, how the RS566 relates to the RS535.
Effects of Including Path Curvature
(Head Rotations)
An important consideration in understanding
why the stitching path control is greatly affected
by the curvature of the stitching path is to first
understand the way that the stitching head works.
Specifically, the motion of the needles during the
stitching process are the key factor. As originally
programmed, the stitching head traverses the
stitching path continuously during the stitching
process. However, the needles penetrate the
material during the stitching process, and to
avoid side forces on the needles, a needle-walk
mechanism moves the needles within the presser
foot during the stitching process as shown in
Figure 10. In the figure, the yellow line indicates the
position of the two needles that can be seen to move
within the presser foot, as indicated by the green
arrows, in the opposite direction of the presser
foot/head motion indicated by the red arrows. The
amount of walk required depends on the length of
the stitch, where stitch length is generally defined
in millimeters. For a typical 5-mm stitch length the
needle walk is between 3.5 mm and 4.0 mm. For
straight stitching paths, the walk ensures that the
needles are not subjected to side forces during the
stitching process. However, for a curved stitching
path in space, side forces develop on the needles
that increase with increasing rotations.
While following a curved stitching path, the
stitching head rotates about the tool point around
the three axes of the local tool point coordinate
system shown in Figure 7. First, consider a stitching
path where the only curvature is in the yz-plane,
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18 | SAMPE JOURNAL | JULY AUGUST 2022
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SAMPE Journal - July/August 2022
Table of Contents for the Digital Edition of SAMPE Journal - July/August 2022
Contents
SAMPE Journal - July/August 2022 - Cover1
SAMPE Journal - July/August 2022 - Cover2
SAMPE Journal - July/August 2022 - Contents
SAMPE Journal - July/August 2022 - 2
SAMPE Journal - July/August 2022 - 3
SAMPE Journal - July/August 2022 - 4
SAMPE Journal - July/August 2022 - 5
SAMPE Journal - July/August 2022 - 6
SAMPE Journal - July/August 2022 - 7
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SAMPE Journal - July/August 2022 - 28
SAMPE Journal - July/August 2022 - 29
SAMPE Journal - July/August 2022 - 30
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SAMPE Journal - July/August 2022 - Cover3
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