Modeling and Simulation of a Moving Yarn Segment: Based on the Absolute Nodal Coordinate Formulation

Table 3

The velocity of the robot arm (which gripped the endpoint of the yarn).

Position statement of the yarn segment	Velocity in the Y direction (m/s)	Velocity in the Z direction (m/s)	Simulation time/ moving time (s)	Corresponding configuration in Figure 14
Straight position to position 1	1.5	1.5	0.08	(b)
Position 1 to position 2	-4	1	0.05	(c)
Position 2 to position 3	-2	-0.4	0.05	(d)