Design of Parallel Micromechanisms for Knotting Operation

Abstract

This thesis covers a study on the design of micromechanisms which are capable of imitating the knotting operation and their applications on carpet manufacturing.For this purpose, motion generation synthesis of a planar two degree-of-freedom serial manipulator is performed for a given path by using interpolation approximation. For a given four points, four design parameters are solved as a result of non-linear equations. Also, analysis of each stages of knotting operation is kinematically performed for the design of a cam-actuated mechanism which is designed as an alternative concept. Results of these analysis are used for the design of cam profiles those of which actuates the manipulators.After design stage of knotting micromechanisms, fully automated carpet loom design is introduced for a real-life experiment of designed mechanisms. Finally, assembly considerations of carpet loom and knotting mechanisms are given for carpet manufacturing purpose.