I need many knots tied repetitively and consistently in a string. I have been trying to make something which ties knots for me in a consistent manner. I've got a project which requires a few hundred strings, each with knots tied at regular intervals. I'm designing my own mechanism, but if another mechanism of the same sort already exists, I can draw a lot of inspiration from it.
The most important parameters are:.
The knots must not vary in size/line use by more than a millimeter.
The knots must be square knots, or they can be simply looped to melt the line back on itself.
What kind of robots or mechanisms currently exist that can tie knots according to the parameters above? Do any such mechanisms exist?