Journal of Textile Research ›› 2022, Vol. 43 ›› Issue (12): 173-180.doi: 10.13475/j.fzxb.20210805708

• Machinery & Accessories • Previous Articles     Next Articles

Prediction method for tension of fabric sewn by robot based on extensibility

SONG Jiexin1,2, FU Tianyu1,2, LI Fengming1,2, SONG Rui1,2(), LI Yibin1,2   

  1. 1. School of Control Science and Engineering, Shandong University, Ji'nan, Shandong 250100, China
    2. Engineering Research Center of Ministry of Education for Intelligent Unmanned Systems, Shandong University, Ji'nan, Shandong 250100, China
  • Received:2021-08-12 Revised:2022-07-23 Online:2022-12-15 Published:2023-01-06
  • Contact: SONG Rui E-mail:rsong@sdu.edu.cn

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Abstract:

In order to better understand the effect the sewing tension on fabric sewing flatness in the robotic sewing process, the support vector machine (SVM) model was trained according to the extensibility of the fabric, and the extensibility of a new fabric was predicted by the linear SVM model. A fuzzy logic control system was used to determine the nonlinear relationship between the cloth characteristics and the applied tension. The SVM model was tested with four fabrics, i.e., wool, silk, velvet, and flannel, among which silk was selected to output the expected tension of the fabric through fuzzy logic relations. The results show that in the process of fabric stretching, the extensibility predicted by the linear SVM model eventually tends to converge towards the actual extensibility of the fabric. Based on fuzzy logic, the expected tension of any fabric can be predicted according to the extensibility and fabric type. This research provides a prerequisite for avoiding fabric deformation and improving sewing quality.

Key words: industrial robot, fabric sewing, extensibility, expected tension, fuzzy control

CLC Number: 

  • TP242.2

Fig.1

Diagram of expected tension prediction method based on fabric extensibility"

Tab.1

Expected tension control rule table"

面料种类T 面料延展性E 面料期望张力 F q
低 非常低 非常低
低 低 非常低
低 中等 低
低 高 中等
低 非常高 高
中等 非常低 低
中等 低 低
中等 中等 中等
中等 高 高
中等 非常高 非常高
高 非常低 中等
高 低 中等
高 中等 高
高 高 非常高
高 非常高 非常高

Fig.2

Membership function graph. (a) Extensibility E of fabric; (b) Type T of fabric; (c) Expected tension Fq of fabric"

Fig.3

Experimental platform diagram"

Fig.4

Force data graph of slub cotton linen"

Fig.5

S-F curve"

Fig.6

ROC curves of different kernel functions. (a) Sigmoid kernel function; (b) Rbf kernel function; (c) Linear kernel function"

Fig.7

SVM prediction map of fabric extensibility"

Fig.8

Deblurring diagram of expected tension center of gravity"

Tab.2

Expected tension control rule table"

面料种类T 面料延展性E 面料期望张力 F q
0.2 0.2 0.199
0.2 0.4 0.293
0.2 0.6 0.466
0.2 0.8 0.642
0.4 0.2 0.256
0.4 0.4 0.358
0.4 0.6 0.534
0.4 0.8 0.707
0.6 0.2 0.371
0.6 0.4 0.466
0.6 0.6 0.642
0.6 0.8 0.774
0.8 0.2 0.429
0.8 0.4 0.534
0.8 0.6 0.707
0.8 0.8 0.801

Fig.9

Wool sewing tension chart"

Fig.10

Stitch diagram for wool sewing with tension equal to, greater than, and less than desired tension"

Fig.11

Slub cotton and linen sewing tension diagram"

Fig.12

Stitch diagram for slub cotton and linen sewing with tension equal to, greater than, and less than desired tension"

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