Development of kinematic simulation system for high-speed press line automated feeding robot

Abstract

High-speed press lines are related to the fierce competition in the automobile industry and rely on continuous high-efficiency automated feeding systems. Kinematic simulation systems have facilitated the improvement of production processes by generating real-time kinematic curves to avoid interference in feeding systems. In this article, a new method based on quintic polynomials in MATLAB and ADAMS is introduced to achieve whole-line planning using a kinematic simulation system for path planning. Furthermore, secondary interface is developed to visualize the kinematic curves and animate the generated whole-line trajectories. The kinematic simulation system was found to improve the efficiency of generating predicted trajectories in joint or Cartesian space and achieved reliable whole-line path planning, including collision inspection and singular point detection, by using parametric modeling and analyzing kinematic curves. Finally, the kinematic simulation system was verified using results of a kinematic analysis and example simulation.

Simulation-based multi-machine coordination for high-speed press line

“…In contrast to the simulation system presented in Zhang et al [10], this paper introduces method integrating programming and simulation in the same environment. It can avoid importing trajectories from one environment to another dynamic simulation environment again.…”

“…What is more, based on discretized coordination space, Montano et al described a method for the online temporal coordination of multiple robots in a shared workspace whose paths were computed independently, and the method was applied successfully by simulation and experiment [5][6][7][8]. Besides, based on a combination of simulation-based optimization and time-synchronized hardware-in-the-loop simulation, Svensson et al introduced an off-line parameter tuning method for an automotive sheet metal press line, and case study verified the method successfully [9,10].…”