Design and Implementation of a Cascade Vertical Pulling Artificial Intelligent Automatic Yarn Dropping Robot

As of improving the automation level and the labor efficiency, yarn dropping robot takes an important role in the ring spinning textile machine. Design and implementation of a cascade vertical pulling artificial intelligent automatic yarn dropping robot in this paper. After researching of the yarn dropping process of ring spinning machines, the kinematics and dynamics analysis of the yarn dropping robot are put forward. The cascade vertical pulling strategy and the 3D circular arc interpolation algorithm and flying scissors algorithm of a 5-axis PAC control servo system is designed and implemented. The results of experiments and operating in the sites for years show high performance of the cascade vertical pulling artificial intelligent automatic yarn dropping robot for ring spinning.