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A Study on Nonwoven fabric formation system which imitated cocoon making behavior of silkworm

模仿蚕茧行为的非织造布成型系统的研究

基本信息

批准号：
15360135
负责人：
KAWAMURA Takashi
金额：
$ 5.63万
依托单位：
Shinshu University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2005
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-15360135/
关键词：
Cocoon Robot Cocoon making behavior Biomimetics Free surface generation Nonwoven fabrics formation

项目摘要

1. Observation and analysis of cocoon makingAs a result of observing cocoon making of the silkworm, it was divided into three stages.2. The simulation of cocoon making by the automatonThe simulation of croon making of silkworm was executed by finite automaton cocoon making. As the result, it was possible to automatically draw circular in-plane manufacturing process by the finite automaton.3. Imitated silk by cotton thread and development ofThe general cotton thread was made to be a core, and the polyvinyl chloride which was the thermoplasticity was made to be the adhesion material, the composition which imitated the thread which the silkworm emits should be carried out. Orifice of spinneret division installed at the tip of robot manipulator with this was newly designed and was produced.4. The trajectory control of robot manipulator which imitated cocoon making.It was divided into three stages for imitating cocoon making of the silkworm got by the observation of cocoon making. They are scaffold make, outline form make of the cocoon and finishing. In this study, the imitation to "the outline form make of the cocoon" which was the second stage using 6 degree of freedom robot manipulator was carried out.5. The tracer control using tactile sensorThe silkworm has decided the action by the tactile sense of body surface without having visual information. The thread action of the silkworm robot was desided by tactile sensor that was developed in this study. Then the robot even can make cocoon on unknown surface.

1.结茧观察与分析通过对家蚕结茧过程的观察，将其分为三个阶段.用有限自动机模拟蚕茧的生产过程用有限自动机模拟蚕茧的生产过程。结果表明，利用有限自动机自动绘制圆形面内加工工艺图是可行的.以普通棉线为芯材，以热塑性聚氯乙烯为粘合材料，进行仿桑蚕丝的合成。设计并制作了安装在机器人操作臂末端的分流孔板.仿蚕茧机械手的轨迹控制，通过观察蚕茧的结茧情况，将仿蚕茧机械手的轨迹控制分为三个阶段。它们是脚手架的制作、蚕茧的外形制作和整理。本研究利用六自由度机器人机械手对第二阶段的“茧的外形制作”进行了模拟.触觉传感器的示踪控制蚕在没有视觉信息的情况下，通过体表的触觉来决定动作。本研究所开发之触觉感测器，用以决定蚕机器人之穿线动作。然后机器人甚至可以在未知的表面上做茧。