Optimization of Industrial Robot Trajectory in Composite Production

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dc.contributor.author Mlýnek, Jaroslav
dc.contributor.author Petrů, Michal
dc.contributor.author Martinec, Tomáš
dc.date.accessioned 2019-09-11T09:47:40Z
dc.date.available 2019-09-11T09:47:40Z
dc.date.issued 2018
dc.identifier.uri https://dspace.tul.cz/handle/15240/153462
dc.identifier.uri https://www.semanticscholar.org/paper/Optimization-of-Industrial-Robot-Trajectory-in-Mlynek-Petr%C5%AF/2b11102360573e913b78500c53b33cd5daaa5d38
dc.description.abstract Currently, traditional materials (e.g. iron, steel, aluminium alloy, wood) are increasingly being replaced by composites in many industrial areas. The main advantages of these new materials are their light weight, high strength and flexibility, corrosion resistance, long lifespan and the reduced price of the produced components. This article discusses the quality of the manufacturing process technology of a shaped composite in 3D space. The technology used is based on a winding of carbon filaments on a polyurethane frame with a circular cross-section (this type of composites is used, for example, in automotive chassis). One important factor in composite frame quality is making the correct winding angles of fibres on the frame and the homogeneity of the individual winding layers. The composite frame is attached to the end-effector of the robot and successively passes through the fibre-processing head during the winding process with three layers. Each layer of fibres is wound at a different angle (usually at pi/4, 0 and - pi/4). The mathematical model of the winding process and the matrix calculus (especially matrices of rotations, translates and calculations of Euler angles) are used to determine the optimized 3D trajectory of end-effector in this paper. The differential evolution algorithm is applied to finding the optimized 3D trajectory of the end-effector. In this way the winding angles and homogeneity of winding layers are maintained during production of the frame composite. The optimized end-effector trajectory is defined by calculated sequence of tool-centre-point values. The calculation of optimized trajectory is programmed and tested in the Delphi development environment. This approach to determining the optimized trajectory of the robot is substantially more effective than the repeated search of a suitable trajectory using the control panel (teach pendant) of the robot. cs
dc.format.extent 6 stran cs
dc.language.iso cs cs
dc.publisher IEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
dc.subject frame composite cs
dc.subject industrial robot cs
dc.subject fibre placement cs
dc.subject fibre-processing head cs
dc.subject robot trajectory calculation and optimization cs
dc.subject differential evolution algorithm cs
dc.title Optimization of Industrial Robot Trajectory in Composite Production cs
dc.type Proceedings Paper
local.citation.spage 270
local.citation.epage 275
local.event.sdate 2018-12-05
local.event.edate 2018-12-07
local.event.title 18th International Conference on Mechatronics - Mechatronika (ME)
local.event.location Brno, CZECH REPUBLIC

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