Optimization of Production Takt for Automatic Press Line Based on Synchronous Motion of Press and Robot

摘要

Motion synchronization is a new pattern in robot and press collaboration. In this paper, a synchronous motion algorithm of robot and press to improve production takt of automatic press line is proposed. First of all, we investigate the influence of different velocity and acceleration on identical trajectory of Fanuc handing robot with 6-degree of freedom (DOF), finding the robot trajectory is independent of the velocity, and is essentially coincident in the same acceleration. Moreover, we present a synchronous motion algorithm on the basis of the trajectory invariance and the velocity formula. The algorithm is approached from the point of view of path planning, takt optimization goal and design formulas. It can automatically adjust robot velocity by eliminating the waiting time at the loading and unloading passage. Finally, the results of simulation experiments have demonstrated the efficiency of the proposed algorithm. It can effectively get around robot frequent clutches and the brakes to achieve the goal of optimizing production takt.