面向微电机的双机器人协作工作空间分析与计算  

Analysis and Calculation of Dual-robot Cooperative Workspace for Micro-motor

作　　者：朱苏纬 丁力平[1] 潘国威[1] ZHU Suwei;DING Liping;PAN Guowei(College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astroautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016

出　　处：《机械制造与自动化》2020年第3期147-150,166,共5页Machine Building & Automation

摘　　要：为实现双机器人协同装配微电机组件的任务,需要确定双机器人协同装配工作空间。建立双机器人协同装配运动学约束关系,推导协作工作空间的定义,说明协作工作空间与双机器人布局形式的关系;采用蒙特卡洛法计算双机器人工作空间,提出一种基于空间网格划分的方法计算双机器人协作工作空间。在V-REP软件中搭建微电机自动化装配生产线虚拟仿真环境,通过编写LUA脚本计算出双机器人工作空间和协作工作空间,直观地验证了双机器人布局形式的合理性,为实际生产提供理论依据和算法支撑。To realize the task of micro-motor components collaborative assembly,it is necessary to determine the cooperative workspace of dual-robots,establish the kinematic constraints of its cooperative assembly,deduce the definition of the cooperative workspace and explain the relationship between its cooperative workspace and layout,then,calculate its workspace by Monte Carlo method.So it proposes a method based on space meshing,which is used to calculate its cooperative workspace.The virtual simulation environment of micro-motor automatic assembly line is built in V-REP software.Its workspace and cooperative workspace are calculated by compiling LUA script.The rationality of the layout is verified intuitively.The theoretical basis and algorithm support are provided for the actual production.

关 键 词：双机器人 协作工作空间 空间网格 V-REP 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]