Optimum trajectory path of robotic manipulator for trimming process of carbon fibre reinforced polymer (CFRP) based product

Khairul Anuar, Muhammad Redha Mubarak (2021) Optimum trajectory path of robotic manipulator for trimming process of carbon fibre reinforced polymer (CFRP) based product. Project Report. Universiti Teknikal Malaysia Melaka, Melaka, Malaysia. (Submitted)

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Abstract

The focus is to automate the trimming process of Carbon Fibre Reinforced Polymer (CFRP) based product. Trimming is a process of cutting off unwanted parts. It improves the composite in terms of appearance and surface finish for installation of the product. Until now, the trimming process of this product is done manually by workers. This report focused on investigating the optimum trajectory path for the robotic manipulator to accomplish the trimming task. In order to imitate the real task, a CFRP wing part model is developed in Autodesk Fusion 360 software for simulation purposes. The path will then extracted based on the three-dimension model. The problem in this project is how to obtain the optimum trajectory path for the robotic manipulator to perform the trimming task. Based on the problem statements mentioned above, there are three objectives that need to be achieved which are; to identify the trajectory path for the robotic manipulator end effector, design a controller for the robotic manipulator to follow the desired path, and evaluate the controller performance based on standard specifications. Six-degrees of freedom UR10 robotic arm is appropriately selected for the trajectory simulation. The proposed idea to accomplish the objectives of this project are by first creating the path based on the shape of the 3-Dimension model as waypoints. By using Coppeliasim robotic simulator, the kinematics of the robotic manipulator will be monitored to obtain the optimum trajectory path to ensure the efficiency of the trimming task simulation. For the analysis, there will be paths with different number of waypoints that assigned as a group of targets in order to observe the efficiency of the trajectory method.

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