复杂机器人工位布局与运动时间的协同优化  

Collaborative optimization between station layout and robotic motion time for complicated stations

作　　者：徐立云[1] 蔡炳杰 杨连生[1,2] 李爱平[1] 

机构地区：[1]同济大学现代制造技术研究所,上海201804 [2]上海外高桥造船有限公司,上海200137

出　　处：《计算机集成制造系统》2016年第8期1867-1876,共10页Computer Integrated Manufacturing Systems

基　　金：上海市重大技术装备研制专项资助项目(ZB-ZBYZ-01-14-1562);上海市经信委产学研资助项目(CXY-2013-31)~~

摘　　要：针对机器人工位设备和动作复杂化以及设备布局和机器人运动轨迹相互影响所引起的传统串行设计流程难以满足工位精准化设计要求的问题,分析了6R机器人的正逆运动学理论,构建了工位布局与机器人运动时间的协同优化模型,基于6R机器人位置反解解耦法提出所有实数反解求解的实时算法,并采用运动时间最短的轨迹规划理论及粒子群优化算法完成模型求解。通过案例论证了所提模型及方法的可行性,结果表明该方案可较大程度地优化复杂工位的设计。Aiming at the problem that the traditional serial designing method could not meet the requirements of ro-botic station caused by complicating of work stations and interaction between facilities and robotic motion, a collabo-rative optimization model was constructed, which optimized facility layouts and robotic motion time concurrently. A traditional forward and inverse kinematics of 6 R robot was researched and a real-time algorithm was proposed, which could get all real solutions based on decoupling method. The path planning theory with shortest motion time and a particle swarm optimization were applied to solve the model. A practical case was illustrated to prove the effi-ciency and validity of the proposed method.

关 键 词：复杂工位 6R机器人 逆运动学 工位布局 协同优化 

分 类 号：TB4[一般工业技术] TP2[自动化与计算机技术—检测技术与自动化装置]