A Kinematic Method for Workpiece Transfer in Virtual Commissioning

The real time workpiece transfer simulation is important in the virtual commissioning application. However, most solutions to the workpiece transfer problem are based on the multi-body dynamic mechanism, which needs to solve complex differential equations and is time consuming. This study proposes a method based on kinematic mechanism. In this method, the workpiece was attached to different moving parts at different stages. The attachment status was judged by the distance between predefined contact surfaces. The movement of a workpiece is the superimposition of the movement of the attached part at different stages. The results of virtual commissioning of a stacker device show that this method is efficient and stable, and can meet real-time requirements.