侧围工位多机器人防干涉问题研究  

Research on interference prevention among multiple robots at car body side station

作　　者：刘海江[1] 姜冬冬[1] 张春伟[1] 

机构地区：[1]同济大学机械工程学院,上海201804

出　　处：《机械设计》2011年第6期33-36,共4页Journal of Machine Design

基　　金：国家高技术研究发展计划(863计划)资助项目(2008AA04Z105)

摘　　要：以实际工程为研究背景,通过几何建模,建立车身侧围工位多机器人关节简化模型,通过构造机器人空间距离矩阵,提出一种多机器人干涉算法,成功解决多机器人在车身侧围工位生产线上的干涉问题,最后用ROBCAD软件建立KUKA机器人仿真模型,验证了该算法的可行性。In this paper,by taking the practical engineering as background,joint simplified model of multi-robots at car body side was established through geometric modeling.Then,a multi robots interference algorithm was proposed by building spatial distance matrix of the robot,the interference problems among multiple robots in production line of car body side are solved successfully.The KUKA robot simulation is finally established by applying ROBCAD,and the feasibility of the algorithm has been verified.

关 键 词：车身侧围 机器人 生产线 干涉 仿真 

分 类 号：TH242[机械工程—机械制造及自动化]