一种多机器人系统平台的结构设计  

Structure Design of a Multi-Robot System Platform

作　　者：张立博[1] 汪苏[1,2] 苗新刚[2] ZHANG Libo WANG SU MIAO Xingang(School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China Beijing Key Laboratory of Robot Bionics and Function Research, Beijing University of Civil Engineering and Architecture, Beijing 100044, China)

机构地区：[1]北京航空航天大学机械工程及自动化学院,北京100191 [2]北京建筑大学机器人仿生与功能研究北京市重点实验室,北京100044

出　　处：《上海交通大学学报》2016年第12期1853-1856,共4页Journal of Shanghai Jiaotong University

基　　金：机器人仿生与功能研究北京市重点实验室研究基金资助

摘　　要：针对机器人生产线任务复杂化和加工柔性化的需要,设计了一种多机器人系统平台,并依据电路板装配与焊接的多机器人系统平台进行机构设计.由于平台结构设计关系到电路板的安装状况,不合理的设计将导致元件装夹错误、位置装配偏移以及焊接质量差等,所以重点设计了自动预紧传动机构、移动平台解耦机构和独立运转转向工作台机构.在对传动精度、运转形式和供电方式研究的基础上,基于SolidWorks建模分析了机构设计的合理性.Aimed at the requirements of robot assembly task complexity and processing flexibility, a multirobot system was designed based on the circuit board assembly and welding process of the multi-robot system experimental platform. Becaused the experimental platform structure design was related to the installation of the circuit board, the unreasonable design may lead to the error of the component, the deviation of the position of the assembly, and the welding quality. Therefore, special attention was paid to the design of the automatic tensioning transmission mechanism, the mobile platform decoupling mechanism, and the independent operation. Based on the study of transmission precision, operation mode, and power supply, the rationality of the mechanism design was analyzed based on SolidWorks modeling.

关 键 词：多机器人系统 群体控制 焊接质量 机构设计 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]