Research of Human Hand Spinning from Control Engineering Viewpoint and Developement of Hand Spinning Robot

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The authors considered the hand spinning system using a spindle and a wheel was similar in its mechanical principle to that of Garabo. In the first half of the research Garabo was investigated from control engineering view point. The results are as follows ;Garabo has a kind of self-operated mechanism so that tha yarn tension is controlled to be constant by operation of the twisting speed of yarn. The yarn thickness is determined by the threshold tension and the clamping pressure of delivery fiber.In the second half of the research the hand spinning robot was investigated. Derivery mechanism of the yarn from the hand was designed by the principle of Garabo i. e. tension control by the twist. The twist rate was controlled by changing the yarn forming speed that was determined by the drawing speed of the rist.