An XY-Theta manipulator for flexible fabric part positioning

Fully automating the apparel assembly process will require generic robotic manipulators which can be purchased as a complete unit and adapted to specific applications. A manipulator that can handle and position non-rigid fabric parts of inexact dimension is described. The XY-theta provides three directions of fabric positioning. Further, the manipulator can handle different sizes of a variety of styles. The aligning system is composed of three modules- vision, positioning and control, which exchange information and control signals via a 32-bit bus system. This combination of modules and bus system makes the aligning system very flexible which is represented by the ability to switch the type of microcontroller or motors used. Thus, the generic system can be adapted for specific applications.