Robotization of Hand Woven Carpet Technology Process

Abstract

This thesis covers a study on the structural design of new overconstrained mechanisms and manipulators and their application to the robotization of hand woven carpet technology process.Moreover, recurrent vector equations are investigated for the synthesis of linkages, and used for the design of new mechanisms with linear-angular conditions in the subspace with general constraint one. These conditions are generalized for defining the structural groups of subspace ..5 and these structural groups are used both for the creation of new parallel manipulators and new serial-parallel platform manipulators.After investigating hand woven carpets, the knowledge gained during the structural design of mechanisms is applied to the robotization of hand woven carpet technology process. Finally, design of carpet weaving robot is introduced.