The article presents an analysis of hardening deformations for a typical door beam of a passenger car. A calculation model for the hot stamping process of the analyzed beam was developed. Such a model was used to simulate which resulted in hardening deformation and to compensate for these deformations.
The paper presents the algorithm for trajectory planning and the analysis of motion accuracy of an anthropomorphic manipulator whose the end-effector moves over the rectilinear-arc path. The path consists of two rectilinear segments of intersecting directions coupled with the arc of a fixed radius. On these rectilinear segments, the end-effector acceleration is described by a polynomial of 7th-degree. The motion over the arc proceeds at a constant velocity. The dynamic analysis was carried out on the basis of Lagrange’s equations of the second order. Manipulator flexibility and damping were considered according to the Kelvin-Voigt model introducing spring-damping components into the drive system. The simulation test results were presented in the form of spatial courses of the pre-assigned and realized trajectories as well as time courses of trajectory end-effector mapping errors for three paths with different radii of the arc.
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