多工位工作岛式抛光机器人工作空间分析及布局优化  

Workspace Analysis and Layout Optimization of Multi-Station Working Island Type Polishing Robot

作　　者：李东京 郝大贤[2] 王琦珑 贠超[2] LI Dong-jing;HAO Da-xian;WANG Qi-long;YUN Chao(School of Information and Eleetrical Engineering,Hubei University of Science and Technology,Hubei Xianning 437100,China;Sehool of Meehanieal Engineering and Automation,Beihang University,Beijing 100191,China)

机构地区：[1]湖北科技学院电子与信息工程学院,湖北咸宁437100 [2]北京航空航天大学机械工程及自动化学院,北京100191

出　　处：《北京邮电大学学报》2018年第3期92-100,共9页Journal of Beijing University of Posts and Telecommunications

摘　　要：为了提高水龙头等工件的抛光效率,提高抛光精度及质量,设计了新型多工位工作岛式抛光机器人.为使该机器人结构更加紧凑,在建立抛光机器人运动学和逆运动学方程基础上,分析了该机器人的灵活加工空间,提出采用多目标的粒子群法对抛光机器人的多个布局参数进行优化分析.该方法同时对抛光机器人的2个重要布局参数进行了优化,并应用粒子群法计算该机器人抛光不同大小工件时各自由度的最大关节空间.最后通过分析抛光机器人在不同工作平面上的灵活加工点验证了优化结果的正确性.实验结果表明,优化布局后的机器人完全能满足指定工件的抛光加工需求,并有较大的加工余量,获得了较好的实验抛光效果.In order to improve the efficiency of the workpiece such as faucet polishing and improve the polishing precision,quality,a new multi station working island type polishing robot was designed. In order to make this robot structure more compact,based on the establishment of the polishing robot＇s kinematics and inverse kinematics equations,further analysis of robot flexible working space was carried out,multi-objective particle swarm optimization method was also proposed to analyze and optimize the multiple layout parameters of this robot,then the various degree of freedom joint space was obtained by particle swarm optimization method while robot polishing deferent size workpiece. Finally,the dexterous machining points of the polishing robot is analyzed,which is verified that the optimized layout parameters is suitable. Through the above analysis. It is shown that the robot with optimized layout parameters can fully meet the specified workpiece polishing requirements,and there is a large machining allowance,better experimental polishing effect was obtained finally.

关 键 词：多工位工作岛式抛光机器人 工作空间分析 布局优化 多目标粒子群算法 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]