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Quality and productivity driven trajectory optimisation for robotic handling of compliant sheet metal parts in multi-press stamping lines
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Glorieux, Emile, Franciosa, Pasquale and Ceglarek, Darek (2019) Quality and productivity driven trajectory optimisation for robotic handling of compliant sheet metal parts in multi-press stamping lines. Robotics and Computer-Integrated Manufacturing, 56 . pp. 264-275. doi:10.1016/j.rcim.2018.10.004 ISSN 0736-5845.
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Official URL: https://doi.org/10.1016/j.rcim.2018.10.004
Abstract
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.
Item Type: | Journal Article | |||||||||
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Subjects: | T Technology > TJ Mechanical engineering and machinery T Technology > TS Manufactures |
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Divisions: | Faculty of Science, Engineering and Medicine > Engineering > WMG (Formerly the Warwick Manufacturing Group) | |||||||||
Library of Congress Subject Headings (LCSH): | Materials handling, Robotics -- Industrial applications | |||||||||
Journal or Publication Title: | Robotics and Computer-Integrated Manufacturing | |||||||||
Publisher: | Elsevier | |||||||||
ISSN: | 0736-5845 | |||||||||
Official Date: | April 2019 | |||||||||
Dates: |
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Volume: | 56 | |||||||||
Page Range: | pp. 264-275 | |||||||||
DOI: | 10.1016/j.rcim.2018.10.004 | |||||||||
Status: | Peer Reviewed | |||||||||
Publication Status: | Published | |||||||||
Access rights to Published version: | Restricted or Subscription Access | |||||||||
Date of first compliant deposit: | 30 October 2018 | |||||||||
Date of first compliant Open Access: | 29 October 2019 | |||||||||
RIOXX Funder/Project Grant: |
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