Design and trajectory planning of sheet metal bending manipulator

Sibo Wang; Jilong Zhang

doi:10.1117/12.3007142

25 October 2023 Design and trajectory planning of sheet metal bending manipulator

Sibo Wang, Jilong Zhang

Proceedings Volume 12801, Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023); 128013C (2023) https://doi.org/10.1117/12.3007142
Event: Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023), 2023, Dalian, China

Abstract

Based on the analysis of the bending manipulator, this paper improves the working efficiency, instability and short service life of the traditional bending manipulator caused by the sudden change of speed and acceleration. In this paper, the size of each member of the bending manipulator is changed and the trajectory of the system is planned. The coordinate system is established by the improved D-H parameter method, and the kinematics analysis is carried out. Perform segmented trajectory planning for the bending robotic arm, using several different interpolation methods to plan and compare these trajectories. Finally, the trajectory of installing the gripper is planned using a quadratic polynomial mixed interpolation method; For the trajectory of material retrieval, the cubic polynomial interpolation method is used for planning; Use the quintic polynomial interpolation method to plan the trajectory of this segment; The bending following is planned using arc interpolation method; The cutting trajectory is planned using the quintic polynomial interpolation method. By simulating with MATLAB, a more ideal motion trajectory was obtained, which improved the stability of the bending manipulator. And use ANSYS to simulate the dynamics of rigid bodies, simulate the force situation of the bending manipulator during its movement according to the given planned trajectory, and obtain a manipulator with good mechanical performance, which improves the service life of the manipulator.

(2023) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Sibo Wang and Jilong Zhang "Design and trajectory planning of sheet metal bending manipulator", Proc. SPIE 12801, Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023), 128013C (25 October 2023); https://doi.org/10.1117/12.3007142

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KEYWORDS

Robotics

Interpolation

Robots

Kinematics

Metals

3D modeling

Design and modelling

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