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End-effector design optimisation and multi-robot motion planning for handling compliant parts
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Glorieux, Emile, Franciosa, Pasquale and Ceglarek, Darek (2018) End-effector design optimisation and multi-robot motion planning for handling compliant parts. Structural and Multidisciplinary Optimization, 57 (3). pp. 1377-1390. doi:10.1007/s00158-017-1798-x
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WRAP-end-effector-design-optimisation-multi-robot-motion-planning-handling-compliant-parts-Glorieux-2018.pdf - Published Version - Requires a PDF viewer. Available under License Creative Commons Attribution 4.0. Download (1293Kb) | Preview |
Official URL: https://doi.org/10.1007/s00158-017-1798-x
Abstract
The deformation of compliant parts during material handling is a critical issue that can significantly affect the productivity and the parts’ dimensional quality. There are multiple relevant aspects to consider when designing end-effectors to handle compliant parts, e.g. motion planning, holding force, part deformations, collisions, etc. This paper focuses on multi-robot material handling systems where the end-effector designs influence the coordination of the robots to prevent that these collide in the shared workspace. A multi-disciplinary methodology for end-effector design optimisation and multi-robot motion planning for material handling of compliant parts is proposed. The novelty is the co-adaptive optimisation of the end-effectors’ structure with the robot motion planning to obtain the highest productivity and to avoid excessive part deformations. Based on FEA, the dynamic deformations of the parts are modelled in order to consider these during the collision avoidance between the handled parts and obstacles. The proposed methodology is evaluated for a case study that considers the multi-robot material handling of sheet metal parts in a multi-stage tandem press line. The results show that a substantial improvement in productivity can be achieved (up to 1.9%). These also demonstrate the need and contribution of the proposed methodology.
| 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 > WMG (Formerly the Warwick Manufacturing Group) | |||||||||
| Library of Congress Subject Headings (LCSH): | Sheet-metal, Materials handling | |||||||||
| Journal or Publication Title: | Structural and Multidisciplinary Optimization | |||||||||
| Publisher: | Springer | |||||||||
| ISSN: | 1615-147X | |||||||||
| Official Date: | March 2018 | |||||||||
| Dates: |
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| Date of first compliant deposit: | 30 October 2018 | |||||||||
| Volume: | 57 | |||||||||
| Number: | 3 | |||||||||
| Page Range: | pp. 1377-1390 | |||||||||
| DOI: | 10.1007/s00158-017-1798-x | |||||||||
| Status: | Peer Reviewed | |||||||||
| Publication Status: | Published | |||||||||
| Access rights to Published version: | Restricted or Subscription Access | |||||||||
| RIOXX Funder/Project Grant: |
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