US 11,686,028 B1
System and method for automated joining of fabric pieces
Hossein Mousavi Hondori, Mountain View, CA (US); Mostafa Ghobadi Shahreza, San Francisco, CA (US); and Weixin Yang, San Francisco, CA (US)
Assigned to CreateMe Technologies LLC, New York, NY (US)
Filed by CreateMe Technologies LLC, New York, NY (US)
Filed on Feb. 3, 2022, as Appl. No. 17/592,368.
Claims priority of provisional application 63/295,196, filed on Dec. 30, 2021.
Int. Cl. D06C 3/10 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01); B25J 9/16 (2006.01); D06C 27/00 (2006.01)
CPC D06C 3/10 (2013.01) [B25J 9/1633 (2013.01); B25J 13/085 (2013.01); B25J 15/0071 (2013.01); D06C 27/00 (2013.01); B25J 9/1682 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An apparatus, comprising:
a first robotic arm and a second robotic arm;
a first pair of jaws coupled to the first robotic arm configured to grip a first fabric piece at a first pair of predetermined locations, and a second pair of jaws coupled to the second robotic arm configured to grip a second fabric piece at a second pair of predetermined locations, wherein a first distance between the first pair of predetermined locations is substantially equal to a second distance between the second pair of predetermined locations;
a first force sensor coupled to the first pair of jaws and configured to measure a first tension force applied to the first fabric piece by the first pair of jaws;
a second force sensor coupled to the second pair of jaws and configured to measure a second tension force applied to the second fabric piece by the second pair of jaws;
a first control module coupled to at least one jaw of the first pair of jaws and configured to control a first movement of the at least one jaw of the first pair of jaws based on the first measured tension force, wherein the first pair of jaws are attached to same wrist of the first robotic arm and are oriented in parallel to each other, and wherein the at least one jaw of the first pair of jaws is configured to move away from the other jaw to stretch the first fabric piece between the first pair of predetermined locations; and
a second control module coupled to at least one jaw of the second pair of jaws and configured to control a second movement of the at least one jaw of the second pair of jaws based on the second measured tension force, wherein the second pair of jaws are attached to same wrist of the second robotic arm and are oriented in parallel to each other, and wherein the at least one jaw of the second pair of jaws is configured to move away from the other jaw to stretch the second fabric piece between the second pair of predetermined locations.