小批量多品种工况下喷涂机器人位姿优化模型实验与仿真  

作　　者：毛英坤 李华 张朵 孙宇楠 苏成志 

机构地区：[1]航空工业哈尔滨飞机工业集团有限责任公司,黑龙江哈尔滨150000 [2]长春理工大学,吉林长春130022

出　　处：《科技创新与应用》2021年第24期95-97,共3页Technology Innovation and Application

摘　　要：为了使机器人在运动性能最优的状态下实现连续喷涂作业,文章从机器人运动学位形角度出发,提出一种机器人站位优化算法。该算法以机器人运动学位形范围和关节运动速度为约束条件,以工作空间灵巧性相关指标为优化目标建立机器人站位优化模型,并进行了实验与仿真。理论和实验表明:文章建立的机器人站位优化算法使机器人在喷涂连续作业的情况下避免经过奇异位形,解决小批量多品种工件的喷涂需求。In order to enable the robot to achieve continuous spray painting operation in the state of optimal motion performance,this paper proposes a robot stationoptimization algorithm from the perspective of robot kinematic configuration.The algorithm takes the range of robot movement degree range and joint movement speed as the constraint conditions,and establishes the robot station optimization model with the relevant indicators of workspace dexterity as the optimization target.The optimization model is solved according to the internal penalty function method and particle swarm optimization algorithm.The theory and experiments show that the robot station optimization algorithm established in this paper enables the robot to avoid experiencing the singular configuration in the case of continuous spraypainting,so as to solve the spraypainting needs of small batch and multi-typeworkpieces.

关 键 词：位姿优化 移动机器人 连续喷涂作业 实验与仿真 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]