Trajectory Planning of Redundant Planar Mechanisms for Reducing Task Completion Duration

Uzunoğlu, Emre; Dede, Mehmet İsmet Can; Kiper, Gökhan; Mastar, Ercan; Sığırtmaç, Tayfun

doi:10.1007/978-3-319-07058-2_25

Cited by 1 publication

(3 citation statements)

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“…The details on our macro-micro mechanism design is shown in Figure 2, where macro and micro mechanism's axes are denoted, respectively, by X-Y and u-v. In our previous works that appeared in (Uzunoglu et al, 2014) and (Uzunoglu et al, 2015), we formulated two different trajectory planning solutions for this macro-micro mechanism.…”

Section: Previous Work On Macro-micro Mechanism Trajectory Planningmentioning

confidence: 99%

“…Main difference of our previously developed algorithms is that one of them works as an offline post-processor (Uzunoglu et al, 2014) while in the other one, the trajectory for the micro mechanism is generated online (Uzunoglu et al, 2015). However, in both methods, generated G-codes for the tool path behaviour are used initially.…”

Section: Previous Work On Macro-micro Mechanism Trajectory Planningmentioning

confidence: 99%

“…However, in both methods, generated G-codes for the tool path behaviour are used initially. The offline method is based on the patent of Sartorio (2004) and explained in detail in (Uzunoglu et al, 2014). Once the trajectory segments are distinguished as travelling and machining segments, the velocity limit is determined for each segment.…”

Section: Previous Work On Macro-micro Mechanism Trajectory Planningmentioning

confidence: 99%

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Trajectory planning for a planar macro-micro manipulator of a laser-cutting machine

Uzunoğlu

Dede

Kiper

2016

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Purpose -In the industry, there is always a demand to shorten the task completion durations to maximize the efficiency of the operation. This work focuses on making use of a special type of kinematic redundancy, macro-micro manipulation, to minimize the task completion duration. The purpose of this paper is to develop the most convenient trajectory planner to be integrated with industrial computerized numerical control (CNC) systems to resolve kinematic redundancy for task duration minimization. Design/methodology/approach -A special type of kinematic redundancy is devised by using two kinematically different mechanisms that have different advantages, which are named as macro and micro mechanisms. In this case, the control design including the trajectory planning should be devised taking into account the distinct advantages of both mechanisms. A new trajectory planning algorithm is designed and used for the constructed planar laser-cutting machine, and some benchmark pieces are cut. Findings -Offline method has practical limitations for employment in a real case scenario such as assuming infinite jerk limits for each axis motion. This limitation was removed by using an online trajectory generation technique. Experimental test results indicate that the online trajectory planning technique developed for the macro-micro mechanism to shorten the task duration was successful. Practical implications -Although the new trajectory planning algorithm is implemented for a laser-cutting machine, it can also be used for other manufacturing systems that require higher acceleration and accuracy levels than the conventional machines. The new algorithm is compatible with the commercially available CNC systems. Originality/value -In this work, a new approach to reducing the task duration for planar machining operations was introduced by making use of macro-micro manipulation concept. The core novelty of the work is devising trajectory planning algorithms to get the most efficiency in terms of acceleration limits from a macro-micro manipulation while making these algorithms deployable to most of the CNC systems.

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Section: Previous Work On Macro-micro Mechanism Trajectory Planningmentioning

confidence: 99%

Section: Previous Work On Macro-micro Mechanism Trajectory Planningmentioning

confidence: 99%

Section: Previous Work On Macro-micro Mechanism Trajectory Planningmentioning

confidence: 99%

See 1 more Smart Citation

Trajectory planning for a planar macro-micro manipulator of a laser-cutting machine

Uzunoğlu

Dede

Kiper

2016

Self Cite

View full text Add to dashboard Cite

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Trajectory Planning of Redundant Planar Mechanisms for Reducing Task Completion Duration

Cited by 1 publication

References 5 publications

Trajectory planning for a planar macro-micro manipulator of a laser-cutting machine

Trajectory planning for a planar macro-micro manipulator of a laser-cutting machine

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