SAMPE Journal - July/August 2022 - 21
b) Concave path
a) Convex path
Figure 13. Stitch patterns for RS535 stitching head with head rotation about tool point coordinate system z-axis.
if y-axis rotation is not included for a path stitched
on a curved surface. The y-axis rotation will induce
shortening or lengthening of the distance between
the catcher and insertion needle penetration
points on the stitching surface. This will lead to
improper loop formation where the catcher needle
fails to hook the thread to form the stitch. A rotation
about the local tool point coordinate system z-axis
does not impart a force on the RS566 needle or the
RS535 catcher needle, however, the RS535 insertion
needle can be subjected to significant side forces
due to the increased or decreased translation
resulting from the rotation. Additionally, stitching
a series of straight segments for a curved path
within the tool point coordinate system xy-plane
is not practical, since many straight segments will
be required to approximate the curved path. As an
example, consider a circular path represented by
a series of straight segments that would require a
large number of segments to accurately represent
the circle. In the limit, each stitch on a programmed
curved path represents the curved path with the
most accuracy possible with the stitching head.
Therefore, special programming is necessary to
stitch a curved path with rotation about the z-axis,
and for general paths that require rotations about
all three-tool point coordinate system axes. The
method for developing the curved stitch paths in
space is presented next.
Curved Stitching Path Programming
The control programming, or G-code, provides
information by which the robotic system carries out
the stitching process. In general, the preprocessor
provides location information along a curve for the
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tool point to follow, and the points output by the
preprocessor are more than sufficient to determine
a unique path for the tool point to follow. The total
distance traveled along the stitching path and a
parameter that is tied to the rotation of the drive
motor for the stitching head are included with the
position points. The drive motor operates cams
that complete the stitching process such as needle
movement, needle walk, thread tension, and
numerous other operations during a full revolution.
The drive motor is synchronized with the path
motion such that the drive motor completes a
single rotation for each stitch length portion of
the stitching path traversed by the tool point.
As programmed for straight stitching paths, the
number and spacing of points to define the curve
is not important, and the control system matches
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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
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SAMPE Journal - July/August 2022 - 20
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SAMPE Journal - July/August 2022 - 28
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SAMPE Journal - July/August 2022 - 30
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SAMPE Journal - July/August 2022 - 33
SAMPE Journal - July/August 2022 - 34
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SAMPE Journal - July/August 2022 - Cover3
SAMPE Journal - July/August 2022 - Cover4
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