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

Yu, Luchuan; Wang, Kaiqiang; Zhang, Zhigang; Zhang, Qinhe; Zhang, Jianhua

doi:10.1007/s40430-019-1775-y

Cited by 7 publications

(2 citation statements)

References 20 publications

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“…Compared with the other research on variable-period trajectory optimization of multi-DOF robots [23,25], main contributions of the paper can be cleared as follows. Firstly, the proposed method applies to the multi-segment local variable-period operation of trajectory optimization and maintains the initial trajectory performance.…”

Section: Discussionmentioning

confidence: 99%

“…As the typical application scenario of industrial robots, the high-speed automobile-panel stamping line alternately cooperates with multiple feeding mechanisms and stamping stations for completing material transmission and stamping forming [23]. Specifically, when the upper and lower dies of the stamping station i-1 are separated to a certain height, the manipulator i starts to move from the initial pose in Fig.…”

Section: Generation Of the Local Variable Period In The Stamping Linementioning

confidence: 99%

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Trajectory optimization of the redundant manipulator with local variable period under multi-machine coordination

Zhou

Huang

2022

Robotica

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The coordinated motion between the press and the feeding mechanism directly determines the production efficiency of the high-speed stamping line. In order to generate the high-performance trajectory of the feeding mechanism, this paper investigates the optimization of the trajectory with the local variable period. Based on the quintic B-spline curve and normal distribution, the smooth interpolation method of variable-time interval is proposed to generate the collision-free and energy-jerk-minimal trajectory with variable-time intervals. The advantage of the proposed method is that it can make the feeding mechanism transition smoothly between districts of variable-time and fixed-time intervals. It is beneficial to avoid re-performing the entire process of trajectory planning. ADAMS and actual experiments are used to validate the effectiveness of the proposed method. Results show that the proposed method can maintain the high performance of the initial trajectory, and there is no sharp point in the displacement-time and velocity-time curves. The investigation provides a new direction for the direct generation of local variable-period trajectories in the multi-machine coordination of the stamping line.

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Section: Discussionmentioning

confidence: 99%

Section: Generation Of the Local Variable Period In The Stamping Linementioning

confidence: 99%