The manipulation of 3D fabric shapes

Outlines a project which addresses the problems of linking simple manipulation cells together in order to achieve automatic garment manufacture. A prototype assembly line is under development at Hull in which a series of autonomous, adaptable robot cells are linked together to assemble two different garment types. Several kinds of knitted cottons have been assessed with this assembly line and all of the 2D structures have been successfully assembled automatically. Work began to automate the final three seams and these are illustrated in figure 2. These seams involve two 3D/2D operations and one 3D/3D operation. A gripper was designed which automates the construction of the last three seams and is described in the paper