Optimization of Industrial Robot Trajectory in Composite Production

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dc.contributor.authorMlýnek, Jaroslav
dc.contributor.authorPetrů, Michal
dc.contributor.authorMartinec, Tomáš
dc.date.accessioned2019-09-11T09:47:40Z
dc.date.available2019-09-11T09:47:40Z
dc.date.issued2018
dc.description.abstractCurrently, 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.extent6 strancs
dc.identifier.urihttps://dspace.tul.cz/handle/15240/153462
dc.identifier.urihttps://www.semanticscholar.org/paper/Optimization-of-Industrial-Robot-Trajectory-in-Mlynek-Petr%C5%AF/2b11102360573e913b78500c53b33cd5daaa5d38
dc.language.isocscs
dc.publisherIEEE, 345 E 47TH ST, NEW YORK, NY 10017 USA
dc.relation.ispartofPROCEEDINGS OF THE 2018 18TH INTERNATIONAL CONFERENCE ON MECHATRONICS - MECHATRONIKA (ME)
dc.subjectframe compositecs
dc.subjectindustrial robotcs
dc.subjectfibre placementcs
dc.subjectfibre-processing headcs
dc.subjectrobot trajectory calculation and optimizationcs
dc.subjectdifferential evolution algorithmcs
dc.titleOptimization of Industrial Robot Trajectory in Composite Productioncs
dc.typeProceedings Paper
local.citation.epage275
local.citation.spage270
local.event.edate2018-12-07
local.event.locationBrno, CZECH REPUBLIC
local.event.sdate2018-12-05
local.event.title18th International Conference on Mechatronics - Mechatronika (ME)
local.identifier.publikace5983
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