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

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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.