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- Glorieux, Emile, 1989-, et al.
(författare)
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End-effector design optimisation and multi-robot motion planning for handling compliant parts
- 2018
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Ingår i: Structural and multidisciplinary optimization (Print). - : Springer Science and Business Media LLC. - 1615-147X .- 1615-1488. ; 57:3, s. 1377-1390
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Tidskriftsartikel (refereegranskat)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.
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| 2. |
- Glorieux, Emile, 1989-, et al.
(författare)
-
Quality and productivity driven trajectory optimisation for robotic handling of compliant sheet metal parts in multi-press stamping lines
- 2019
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Ingår i: Robotics and Computer-Integrated Manufacturing. - : Elsevier BV. - 0736-5845 .- 1879-2537. ; 56, s. 264-275
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Tidskriftsartikel (refereegranskat)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. © 2018
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