双臂空间机器人在数字化车间智能制造中的应用  

Application of Dual-Arm Space Robot in Intelligent Manufacturing of Digital Workshop

作　　者：陈欣欢 常辉[1] 李能菲 CHEN Xin-huan;CHANG Hui;LI Neng-fei(School of Mechanical and Electrical Engineering,Anhui Vocational and Technical College,Hefei 230011,China)

机构地区：[1]安徽职业技术学院机电工程学院,安徽合肥230011

出　　处：《遵义师范学院学报》2022年第5期87-91,共5页Journal of Zunyi Normal University

基　　金：安徽省教育厅高等学校质量工程项目“工业机器人工作站系统集成技术”(2020mooc255)。

摘　　要：在数字化车间生产过程中,受机器人末端爪手工作模式的影响,导致智能制造产品质量较低,为此,作者开展了双臂空间机器人在数字化车间智能制造中的应用研究。首先分析了双臂空间机器人的工作原理,构建了机器人动力模型;然后对机器人各个关节添加PD控制器,结合期望角速度实现双臂协调运动的高精度控制;最后利用遗传算法,建立数字化车间物料调度方案,结合智能制造技术,完成双臂空间机器人在数字化车间智能制造中的应用。算例分析结果表明:该技术的应用使企业制造产品的良品率比文献技术分别提升了10.42%、16.45%,实现了产品质量的有效提升。In the production process of digital workshop, affected by the working mode of robot end claw, the quality of intelligent manufacturing products is low. Therefore, the application of dual-arm space robot in intelligent manufacturing in digital workshop is proposed.Firstly, the working principle of dual-arm space robot is analyzed, and the robot dynamic model is constructed. Then PD controller is added to each joint of the robot, and it is combined with the desired angular velocity to realize the high-precision control of the coordinated movement of both arms. Finally, the material scheduling scheme of digital workshop is established by using genetic algorithm.Combined with intelligent manufacturing technology, the application of dual-arm space robot in intelligent manufacturing of digital workshop is completed.The analysis result of the example shows that the application of this technology makes the yield rate of the products promoted by 10.42% and 16.45% respectively, and realizes the effective improvement of the product quality.

关 键 词：双臂空间机器人 数字化车间 智能制造 动力模型 协调控制 调度可视化 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]