Optimal design and experiments of a novel bobbin thread-hooking mechanism with RRSC (revolute–revolute–spherical–cylindrical) spatial four-bar linkage

Abstract

Abstract. To solve the problem of low supply of bobbin thread and frequent bobbin changes existing in current embroidery machines, a novel bobbin thread-hooking mechanism with an RRSC (revolute–revolute–spherical–cylindrical) spatial four-bar linkage is proposed which can achieve a large number and continuous supply of bobbin thread. Based on the analysis of the chain stitch formation principle, the design requirements for motion trajectory and posture of the hooking mechanism are proposed. The methods of direction cosine matrix and mechanism identity condition are applied in kinematics modeling and analysis of the RRSC mechanism. The optimization design model and computer-aided software are developed, then the human–computer interaction optimization method is used to obtain optimal solutions to meet working requirements. The physical prototype is machined and a test bench is built. The virtual simulation and prototype high-speed camera kinematics tests are conducted. The results verify the correctness of mechanism design and show good application feasibility of the mechanism.