Optimal Trajectory Planning For Material Handling of Compliant Sheet Metal Parts

[+] Author and Article Information
Huifang Li

General Motors Corporation, Warren, MI 48092email: huifang.li@gm.com

Dariusz Ceglarek

Department of Industrial Engineering, University of Wisconsin-Madison, Madison, WI 57306e-mail: darek@engr.wisc.edu

J. Mech. Des 124(2), 213-222 (May 16, 2002) (10 pages) doi:10.1115/1.1463035 History: Received October 01, 2000; Online May 16, 2002
Copyright © 2002 by ASME
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Schematic plot of compliant part transfer in a stamping line
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An example of a sheet metal blank with end effector layout
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Geometry mesh of the sample blank
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An example of displaced mesh with ax=−10 m/s2,az=10 m/s2
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Data fitting for the maximum von Mises stress
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Data fitting for the maximum part deflection
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Diagram of system configuration
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Outline of the optimization methodology
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Examples of part deflection constraint
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Yield boundary and the maximum deflection boundary
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Examples of trajectory planning among three obstacles
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Optimal paths with different maximum deflection specifications
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Acceleration profile when the maximum deflection is 60 mm
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Optimal trajectory when the maximum deflection is 30 mm
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Optimal trajectory with jerk constraint




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