Kinematic Comparison of a Heald Frame Driven by a Rotary Dobby with a Cam-Slider, a Cam-Link and a Null Modulator

Honghuan Yin 1 , Hongbin Yu 1 , 2  and Lei Wang 3
  • 1 School of Mechanical Engineering, 300387, Tianjin, China
  • 2 Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology, 300387, Tianjin, China
  • 3 School of Mechanical Engineering, 300072, Tianjin, China


The kinematics of the heald frame of a rotary dobby with two different modulator types are analyzed and compared. Kinematic mathematical models of the modulator main shaft, cam unit, and heald frame driven by the rotary dobby with a cam-slider modulator and a cam-link modulator were constructed based on two different cam contours derived from measured points on the conjugate cams of the two modulators. The motion characteristics of the two modulators and a null modulator, the cam unit, and the motion transmission unit are analyzed. The purpose of the present study was to establish the kinematic models, investigate the motion characteristics, and analyze their differences. At the same time, a calculation method for each motion transmission process was established and numerical models were developed. The results demonstrated that the two different modulators produce almost the same heald frame motion characteristics. Despite that both modulator types can be adapted to the requirements of a loom, the cam-link modulator can produce a more stable and reliable motion.

If the inline PDF is not rendering correctly, you can download the PDF file here.

  • [1] Eren, R., Özkan, G., Turhan, Y. (2008). Kinematics of rotary dobby and analysis of heald frame motion in weaving process. Textile Research Journal, 78, 1070-1079.

  • [2] Adanur, S. (2000). Handbook of weaving. CRC Press (U.S.A.), 110-113.

  • [3] Eren, R., Özkan, G., Karahan, M. (2005). Comparison of Heald frame motion generated by rotary dobby and crank & cam shedding motions. Fibres & Textiles in Eastern Europe, 13(4), 78-83.

  • [4] Korolev, P. A., Lohmanov, V. N. (2011). Kinematics of connections of the shedding mechanism of a circular loom TKP-110-U. Lzvestiya Vysshikh Uchebnykh Zavedenii, Seriya Teknologiya, 4, 116-119.

  • [5] Sadettin, K., Taylan, D. M., Ali, K. (2010). Cam motion tuning of shedding mechanism for vibration reduction of heald frame. Gazi University Journal of Science, 23(2), 227-232.

  • [6] Abdullah, G., Hasçelik, B., Palamutcu, S., Soydan, A. S. (2010). Synthesis work about driving mechanism of a novel rotary dobby mechanism. Tekstil ve Konfeksiyon, 20(3), 218-224.

  • [7] Liu, Z. X. (1985). Structure and motion analysis of rotary dobby. Wool Textile Journal, 1, 29-38.

  • [8] Guo, Y. Y., Chen, R. Q. (2003). A new type of microprocessor controlled positive dobby. Indian Journal of Fiber and Textile Research, 28, 275-280.

  • [9] Gao, D. N., Shen, Y., Liu, C. L. (2012). The design of election comprehensive conjugate cam of GT421 dobby. Advance Textile Technology, 20(1), 27-31.

  • [10] Gao, D. N., Shen, Y., Liu, C. L. (2012). Dynamic simulation of mechanism of GT421 dobby based on ADAMS. Journal of Textile Research, 33(8), 119-123.

  • [11] Mrazek, J. (1992). Theoretical analysis of dynamics four-bar beat up mechanisms of a loom. Mechanism and Machine Theory, 27(3), 331-341.

  • [12] Jin, G. G., Wei, X. Y., Wei, Z., Chang, B., Zhang, X. (2018). Dynamic analysis and optimization of rotary dobby lifting comprehensive mechanism. Journal of Textile Research, 39(9), 160-168.

  • [13] Bílek, M., Mrazek, J. (1998). Dynamic stress of Heald shaft of weaving looms. Fibres and Textiles, 3, 131-134.

  • [14] Bílek, M., Skřivánek, J. (2013). Mathematical modeling of the system shedding motion - Heald - warp. AUTEX Research Journal, 13(2), 42-46.

  • [15] Zhang, Y. H., Gou, X. F., Chen, X. F., et al. Redesign of conjugate cam of rotation variable speed mechanism of electronic dobby. Journal of Mechanical Transmission 2018; 42(4): 57-61.

  • [16] Anon. (1983). Rotary dobby-the efficient shed forming mechanism for modern weaving machines. International Textile Bulletin, Fabric Forming (Eng. Ed.), 66, 45-46.

  • [17] Marks, R., Robinson, A. T. C. (1976). Principles of weaving. London: The Textile Institute, Manchester, 59-72.

  • [18] Guha, A., Amarnath, C., Kurien, I., Talukdar, M. K. (2009). Linkage driven dobby with dwell. Textile Research Journal, 79(9), 804-809.

  • [19] Chiu, H. C., Lin, T. R. (2005). A novel reverse measurement and manufacturing of conjugate cams in a diesel engine. International Journal of Advanced Manufacturing Technology, 26(1), 41-46.

  • [20] Wang, Q. X., Yuan, Y. H. (2013). Analysis and design of Heald selecting conjugate cam mechanism of HQ3620 rotary electronic dobby. Advanced Textile Technology, 21(6), 9-12.

  • [21] Shen, Y., Liu, C. L., Gao, D. N. (2012). Design and application of a combined mechanism with conjugate cam and slider rocker. Machine Design and Research, 28(4), 22-25.

  • [22] Chen, M., Ma, F. X. (1998). A positive dobby for weaving converted from a negative one (Staubli 2500). Journal of China Textile University (Eng. Ed.), 15(2), 39-41.

  • [23] Singh, Y. P., Kohli, D. (1981). Synthesis of cam-link mechanisms for exact path generation. Mechanism and Machine Theory, 16(4), 447-457.

  • [24] Erdman, A. G., Sandor, G. N., Kota, S. (2001). Mechanism design: Analysis and synthesis. Prentice-Hall (Englewood Cliffs), 1, 426-435.

  • [25] Ye, Z., Smith, M. R. (2005). Design of a combined cam-linkage mechanism with an oscillating roller follower by an analytical method. Proceedings of the Institution of Mechanical Engineers-Part C: Journal of Mechanical Engineering Science, 219(4), 419-427.

  • [26] Mundo, D., Danieli, G. A., Yan, H. S. (2006). Kinematic optimization of mechanical presses by optimal synthesis of cam-integrated linkages. Transactions of the Canadian Society for Mechanical Engineering, 30(4), 519-532.

  • [27] Mundo, D., Liu, J. Y., Yan, H. S. (2006). Optimal synthesis of cam-linkage mechanisms for precise path generation. Journal of Mechanical Design, 128(6), 1253-1260.

  • [28] Wang, Y., Chen, J. N., Zhao, X., Zhang, G., Yu, B. (2013). Study on cam profile’s expression method and its applications based on NURBS curves. China Mechanical Engineering, 24(10), 1375-1380.

  • [29] Sun, H., Chen, Z. M., Ge, W. J. (2006). Theory of machines and mechanisms. (7th ed.) Higher Education Press (Beijing), 117-120.


Journal + Issues