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Stamping Manipulator Trajectory Planning Based On Virtual Prototype Technology Research
Su Chunjian,Yan Nannan,Lou Shumei,Zhang Xiaodong,Lu Shun,Wang Qing 보안공학연구지원센터 2016 International Journal of Signal Processing, Image Vol.9 No.4
In view of the problem that the joint type multiple DOF Manipulator is easy to collide with the surrounding equipment and jitter caused by the joint movement, this paper based on the stamping manipulator of five DOF cylindrical coordinate type, planned a straight path through actual stamping process in Cartesian space and quadratic programmed by using a bounded deviation theory. Then, this paper respectively used cubic polynomial, five polynomial and B-spline interpolation on interpolation points in joint space, and analyzed the displacement, velocity and acceleration of the end reference point. Finally, model in virtual prototype and real experiments were verified to ensure the safety and precision of the path. The results meet the requirements of the stamping process, succeeded in raising the stamping accuracy, and ensured the quality of stamping, and can arrange the entire auto production line equipment. So, it has important theoretical and practical significance to improve the stamping process.
Chunjian Su,Jiazhen Liu,Zexuan Zhao,Shumei Lou,Rui Wang,Longyun Yang 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.12
In the present study, a five-boundary conditional distribution function of the forming angle is proposed. The stress, strain, and springback of a sheet in roll-forming process under three different angle distribution functions are studied. Furthermore, effects of forming angle increment, sheet thickness, and material yield strength on stress, strain distribution, and springback of sheet during roll forming are studied under optimized forming angle. The results demonstrate that stress, strain, and springback of each pass based on increment of forming angle under five-boundary condition during roll forming are less than those achieved by other forming angle distribution methods. The stress and strain in the bending zone increase with increase in the sheet thickness. After roll forming, the springback angle decreases with the increase of sheet thickness, increases with the increase of forming angle and material yield strength. However, springback angle can be effectively reduced by increasing the number of passes or correction rolls.
Research on roll-forming bending angle distribution function based on five boundary conditions
Chunjian Su,Chenyang Zhang,Shumei Lou,Qing Wang 대한기계학회 2017 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.31 No.7
The bending angle is an important parameter in roll forming, in which the rationality of the bending angle distribution in each pass directly impacts roller design, the smoothness of the roll-forming process and product quality. In the past research, it is generally recognized that the projection track of the edge of the profile section in the horizontal plane follows a cubic curve, which can be used to determine the bending angle of each pass according to the boundary conditions. However, this method has some limitations and does not guarantee that the distribution of the bending angle is the most acceptable one. In this study, a hat-shaped steel channel is chosen as the research object and the different bending angle distribution methods are discussed. In addition, a bending angle distribution function based on five boundary conditions is proposed and the curve equation for the projection track of the edge of the profile section in the horizontal plane is constructed. At the same time, different bending angle distribution results are obtained by adding various boundary conditions, furthermore, the numerical simulations and comparative analyses are performed. Finally, combining the numerical simulation with the experiment, the optimal bending angle distribution results are obtained.
ICP Registration Technology based on the Coordinate System Direction Fit
Heqiang Tian,Peng Yang,Chunjian Su,Zhiqiang Dong 보안공학연구지원센터 2015 International Journal of Security and Its Applicat Vol.9 No.12
In computer assisted surgery, one of the most important problems is to align the preoperative model with intraoperative data. The Iterative Closest Point (ICP) algorithm is undoubtedly the most popular algorithm for solving this kind of problem, which needs a good initialization. In this paper, an ICP algorithm based on the coordinate system direction fit is present to improve ICP algorithm’s shortcoming with easily falling into local optimum for intraoperative registration. Firstly, ICP registration algorithm and its problems are introduced. Secondly, based on the consistency between CT scans pose and surgical pose, a three-plane coordinate system on patients is established to reduce the rotation dislocation between CT image space and patient space. Then, an ICP algorithm experiment and its precision analysis are conducted. Finally, the error analysis is also given. The experimental results show that one of the benefits of the ICP algorithm based on the coordinate system direction fit is that it is easily convergent on the registration by a three-plane coordinate system on patients, which increases the registration accuracy and reduces the computational processing time .