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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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Official URL: https://doi.org/10.1007/s00158-017-1798-x

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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
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TS Manufactures
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:
DateEvent
March 2018Published
9 September 2017Available
24 August 2017Accepted
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:
Project/Grant IDRIOXX Funder NameFunder ID
PROSAM+ RUN 612-0208-16Västra Götalandsregionenhttp://dx.doi.org/10.13039/100007212
UNSPECIFIEDWarwick Manufacturing Grouphttp://viaf.org/viaf/123628346
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