Simulation And Optimization Of Blanking System On Automotive Outer Cover Stamping Production Line

The work efficiency of the high-speed stamping production line severely restricts the production efficiency of automotive exterior covers.Continuous and efficient loading and unloading system is an important guarantee for high-speed operation of the stamping production line.Studying the kinematics,dynamics of the feeding manipulator and the feeding simulation system of the punching production line has an important role in improving the production cycle of the punching production line,reducing jitter,and increasing the operating life of the feeding systemIn the process of attitude planning and trajectory optimization analysis for redundant manipulators used in high-speed stamping production lines,this paper takes into account the loading and unloading efficiency and the stability of the trajectory.A kinematic model is established based on the spin theory to obtain the positive kinematic equation.The trajectory is initially planned using the fifth-order B-spline interpolation method,combined with the genetic algorithm,the trajectory of the redundant robotic arm is used as the objective function to optimize the trajectory,and the trajectory of the redundant joint is obtained.The remaining joints are solved by inverse kinematics to obtain the trajectory,velocity and acceleration of all joints.The research results show that this scheme can effectively improve the loading and unloading efficiency and ensure the smooth operation of the loading and unloading process of redundant robotic armsCombining geometric features,the Kane equation is used to mathematically model the one-arm dynamics.Use Solidworks to 3D model the single arm,combine the kinematics to find the running trajectories of each joint,and import them into ADAMS software to simulate the dynamics of the single arm to obtain the running torque of each joint and the running trajectory of the end effector.The simulation results show that:On the basis of ensuring operating efficiency,the torque of each joint is stable within a safe range.According to the consistency of the single-arm operation of the stamping production line,the secondary development based on MATLAB establishes a GUI interface,and promotes the calculation method of the single-arm joint trajectory.The recipes of each single-arm running trajectory are imported into the established GUI interface,and the joint trajectories of the other four single-arms are solved.The whole line simulation is performed in ADAMS,and the collision monitoring mechanism between the end link of the manipulator and the press is established to check the operation of the planned manipulator.The simulation results show that there is no collision interference between each single arm and the press and the operation is stable.