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Quality and productivity driven trajectory optimisation for robotic handling of compliant sheet metal parts in multi-press stamping lines
University West, Department of Engineering Science, Division of Production System. (PTW)ORCID iD: 0000-0002-0044-2795
University of Warwick, Warwick Manufacturing Group (WMG), Coventry, CV4 7AL, United Kingdom.
University of Warwick, Warwick Manufacturing Group (WMG), Coventry, CV4 7AL, United Kingdom.
2019 (English)In: Robotics and Computer-Integrated Manufacturing, ISSN 0736-5845, E-ISSN 1879-2537, Vol. 56, p. 264-275Article in journal (Refereed) Published
Abstract [en]

This paper investigates trajectory generation for multi-robot systems that handle compliant parts in order to minimise deformations during handling, which is important to reduce the risk of affecting the part’s dimensional quality. An optimisation methodology is proposed to generate deformation-minimal multi-robot coordinated trajectories for predefined robot paths and cycle-time. The novelty of the proposed optimisation methodology is that it efficiently estimates part deformations using a precomputed Response Surface Model (RSM), which is based on data samples generated by Finite Element Analysis (FEA) of the handled part and end-effector. The end-effector holding forces, plastic part deformations, collision-avoidance and multi-robot coordination are also considered as constraints in the optimisation model. The optimised trajectories are experimentally validated and the results show that the proposed optimisation methodology is able to significantly reduce the deformations of the part during handling, i.e. up to 12% with the same cycle-time in the case study that involves handling compliant sheet metal parts. This investigation provides insights into generating specialised trajectories for material handling of compliant parts that can systematically minimise part deformations to ensure final dimensional quality. © 2018

Place, publisher, year, edition, pages
Pergamon Press, 2019. Vol. 56, p. 264-275
Keywords [en]
Aerodynamics, Deformation, Industrial robots, Materials handling, Multipurpose robots, Plastic parts, Robotics, Sheet metal, Trajectories, Compliant parts, Dimensional quality, Material handling, Multi-robot coordination, Multi-robot systems, Response surface modeling, Trajectory generation, Trajectory optimisation, End effectors
National Category
Manufacturing, Surface and Joining Technology
Research subject
ENGINEERING, Manufacturing and materials engineering; Production Technology
Identifiers
URN: urn:nbn:se:hv:diva-13114DOI: 10.1016/j.rcim.2018.10.004ISI: 000451488700023Scopus ID: 2-s2.0-85055719221OAI: oai:DiVA.org:hv-13114DiVA, id: diva2:1262465
Funder
Region Västra Götaland, PROSAM + RUN 612-0208-16
Note

Available online 29 October 2018.

Funders: UK EPSRC [EP/K019368/1] 

Available from: 2018-11-12 Created: 2018-11-12 Last updated: 2018-12-13Bibliographically approved

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Glorieux, Emile

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