부산대학교 도서관

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.