Development of Hand Spinning Robot System for Special Functional Yarns Modeling after Control Mechanism and Operational Skill in Man-Hand Spinning

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Hand spinning robot systems for special materials were developed modeling after control mechanism and skill of operation in man hand spinning. These systems can spin rather rough and irregular materials and are adaptable to large item and small amount production. The modern spinning machine cannot spin such materials and cannot fit for such style productions. The principle idea was obtained by the research of old spinning machines and spinning methods such as hand wheel spinning with spindle or flyer and Gara-bo (Japanese throstle spinning machine) which was invented in Japan in 1870's. These old spinning machines have special characteristics to be able to deal with rough and irregular materials and adaptable to small amount production. The authors revealed that these characteristics were caused by the "twist draft spinning mechanism" and developed the automatic spinning machines based on old twist draft spinning machines.It was proved that the systems could spin (a) disentangled fiber of waste cloth containing wool, acrylic fiber, polyester fiber, etc. and (b) remnant of non-woven cloth of needle punch type. These systems are convenient to apply to "Fiber recycle" of waste cloth.Basic equations to control the systems and design specification of yarn were obtained as follows;λ = C_<tλ>ρ^<1/(2b)>T^<(-1)/2> D = C_<td>ρ^<(-1)/(2b)>T^<1/2>where, D=Yarn Diameter, λ=Twist rate, T=Yarn tension, ρ=Density of clamped fiber assemble, C_<tλ>, C_<td>=Coefficients independent ρ. Above equations indicate that if D is able to measure D can controlled constant operating λ so as to make T constant.