Research on A New Knotting Device Based on Knot Theory

In order to automatize the knotting operation to meet the requirements of intelligent manufacturing, we take the overhand knot as an example to analyze its forming process. Based on the knot theory, the method of twisting around the rope axis is put forward. A new knotting device consisted of arc edge cam, incomplete hollow gear disk and movable arm gripper is constructed. For the support force of the rope belt, the spatial contour curve of edge cam is constructed by utilizing the B-spline curve and satisfies the forming principle of the overhand knot. Finally, a physical prototype experiment of the new knotting device is carried out. The experimental results show that the new knotting device integrated with knotting method can realize the forming of the overhand knot can be achieved with robustness, also the rope belt in new mechanism moves smoothly in the knotting process.