Abstract
High-speed press lines are related to the fierce competition in the automobile industry and rely on continuous high-efficiency automated feeding systems. Kinematic simulation systems have facilitated the improvement of production processes by generating real-time kinematic curves to avoid interference in feeding systems. In this article, a new method based on quintic polynomials in MATLAB and ADAMS is introduced to achieve whole-line planning using a kinematic simulation system for path planning. Furthermore, secondary interface is developed to visualize the kinematic curves and animate the generated whole-line trajectories. The kinematic simulation system was found to improve the efficiency of generating predicted trajectories in joint or Cartesian space and achieved reliable whole-line path planning, including collision inspection and singular point detection, by using parametric modeling and analyzing kinematic curves. Finally, the kinematic simulation system was verified using results of a kinematic analysis and example simulation.
Highlights
Path planning is an important part of kinematic simulation systems
This article is organized as follows: kinematic analysis of the high-speed press line automated feeding manipulator is introduced in the second section; in the third section, the kinematics simulation system is developed based on an example simulation, including modeling of the mechanical system, model simulation, development of a customized user interface, and analysis of the kinematic curves; some conclusions are summarized in the fourth section
After kinematic curves were obtained in the Cartesian and joint space using the secondary development interface and relative positions between the presses and manipulators of the entire production line were determined, analysis of the kinematic curves was performed in ADAMS/PostProcessor to check whether collisions and singular points existed
Summary
Development of kinematic simulation system for high-speed press line automated feeding robot. Zhulin Zhang[1,2], Dong Ding[1,3], Luchuan Yu1,2, Xianjin Zhao[4], Jianhua Zhang[1,2], Zhigang Zhang[4] and Qinhe Zhang[1,2]
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