Development And Application Of Motion Planning And Simulation System For Auto Body Panels Stamping Line

The automobile industry is a highly integrated intensive technology. Stamping,welding, painting and assembly are the major processes of modern automobile manufacturing. At present, the other three process equipment of China automobile production are long-term dependent on imports except stamping. However, the technology of motion planning, virtual simulation system and part automatic feeding equipment for the automatic stamping line, are kept by several companies of Germany,Japan and other countries. Due to the large disparity compared with foreign countries,especially the lack of independent intellectual property rights, the stamping line can't meet the domestic automatic industry requirements.This thesis was supported by the Innovation Platform of National Large-scale Precision Composite Stamping Machine-Tool (No. 2011ZX04016-091). Focusing on the motion planning and virtual simulation system for auto body panels stamping line,deep research work was carried out, and innovative results of important application values was made. Research results have been successfully applied to the motion planning and simulation for the single-arm automatic stamping line project of BYD Auto Co., Ltd. Main research contents and achievements of the thesis are as follows.By analyzing the operation part of auto body panels stamping line, the research method and functional module of motion planning and simulation system for the stamping line were determined. The main frame structure for the development of the stamping line motion planning and simulation system was established. The functional breakdown of motion planning and simulation for the stamping line was carried out.The key technology in the process of establishing the motion planning and simulation system for the stamping line was analyzed, providing the decision support for development of the motion planning and simulation system for stamping line.In this thesis, the inverse kinematics method of the redundant robotics was applied to the typical operation solving of JWS feeding arm. The kinematic and dynamic model of the feeding arm and the environmental model of different tasks were established, and the motion planning problem of JWS dual-redundancy feeding arm was researched. Based on the Newton-Raphson iterative method, the optimal controlling numerical method and the parameter optimization method of combined polynomial curve, the motion planning problem of the redundant feeding arm was respectively solved and different algorithms were evaluated. The Newton-Raphson iterative method was improved and the program was realized. The research results show that the improved Newton-Raphson iterative method is robust and can meet the requirements of practical production.The mathematical description model of the motion planning problem for the whole line was established, and the solving method of decomposition planning for the whole line planning was proposed. The complete and rigorous basic algorithm for solving the whole line planning problem was developed, and the general architecture of the whole line motion simulation was proposed, with the advantages of interface specification and easy expansion.The virtual simulation model of the auto body panels stamping line was established. The simulation results of the whole line motion were analyzed to optimize the feeding curve of the feeding arms and the production rhythm of the whole line. The performance of the feeding arms and the whole line in the production were demonstrated, which indicated that the planning system for the single-arm feeding arm was reasonable and feasible, stable and reliable. The developed virtual simulation model for auto body panels stamping line has been applied in the single-arm stamping line production of JIER Machine-Tool Group Co., Ltd.