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

1. 蚕茧的观察与分析通过对蚕茧的观察，将蚕茧的形成过程分为三个阶段。用有限自动机制茧对蚕的制茧过程进行了模拟。因此，利用有限自动机自动绘制圆面内加工过程成为可能。以棉线和普通棉线为芯，以具有热塑性的聚氯乙烯为粘接材料制成仿蚕丝，进行仿蚕丝的合成。设计并生产了安装在机器人操作手尖端的喷丝器分孔。仿茧机器人机械手的轨迹控制。通过对蚕茧的观察，将模拟蚕茧分为三个阶段。它们有支架制、茧形制和整理制。在本研究中，利用6自由度机器人机械手对第二阶段“茧的轮廓形状”进行了仿真。蚕在没有视觉信息的情况下，通过体表触觉来决定动作。蚕机器人的蛛丝动作是由触觉传感器决定的。然后机器人甚至可以在未知的表面上做茧。

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.