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.
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