Robofoot PM Team Description - RoboCup2005 MiddleSize League

A yarn creel device in combination with apparatus for producing a textile web characterized by yarns extending cross-wise with respect to the length of the web is characterized by a plurality of feed bobbins fixedly mounted inside a plurality of rotating compartments by means of supporting cradles which are in turn mounted within the compartments for free rotation about the same axis of rotation as the compartments. As the compartments are driven in rotation, the supporting cradles are held immobilized by the weight of the bobbins. Yarn is distributed from the bobbins through a hollow axle and through spaces between consecutive compartments of the device.

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