Motion Planning of Automatic Press Line with Hybrid Type Transferring Robot

This paper presents a kinematic model of a new hybrid transferring robot for an automatic press line. Based on geometric constraints and closed-chain analysis, inverse-direct kinematics and Jacobian are analyzed so that the position and velocity model can be derived. Press-unit analysis, robot-unit analysis, and polynomial interpolation are used for the optimal motion planning of the manipulator. Considering the coordination of the robots and presses in an automatic press line, an overall motion planning is presented. This plan can be used to improve the cycle time of the automatic press line. The validity of this plan is verified by simulation based on ProE software.