纺织车间搬运机器人任务自适应分配研究  

Research on Task Adaptive Assignment of Handling Robot in Textile Workshop

作　　者：刘金涛 张曦 王基月 王心超 LIU Jin-tao;ZHANG Xi;WANG Ji-yue;WANG Xin-chao(School of Mechanical Engineering,Zhengzhou University of Science and Technology,He’nan Zhengzhou 450064,China;School of Vehicles and Transportation,Zhengzhou University of Science and Technology,He’nan Zhengzhou 450064,China;School of Mechanical and Electrical Engineering,He’nan University of Technology,He’nan Zhengzhou 450001,China)

机构地区：[1]郑州科技学院机械工程学院,河南郑州450064 [2]郑州科技学院车辆与交通学院,河南郑州450064 [3]河南工业大学机电工程学院,河南郑州450001

出　　处：《机械设计与制造》2024年第2期300-304,共5页Machinery Design & Manufacture

基　　金：河南省教育厅高等学校重点科研项目—工业机器人避障检测与安全控制研究(21B460017);河南省重点研发与推广专项(科技攻关)—基于颗粒阻尼纺化纤高速卷绕头振动分析与控制研究(222102220051)。

摘　　要：智能化纺织车间中的搬运机器人与一般传统车间不同,任务多且复杂,导致任务分配难度增加,提出针对现代化纺织车间搬运机器人的任务自适应分配方法。分析纺织车间环境、搬运任务要求及搬运机器人参数,构建机器人任务自适应分配模型,采用克隆选择算法初始化遗传算法的种群并计算其亲和度及浓度,通过克隆、变异及选择方式获取模型最优解,实现纺织车间搬运机器人任务自适应分配。实验结果表明,这种方法在纺织车间搬运机器人任务分配中效率高、碰撞次数少、搜集时间短,实际应用效果好。Different from the traditional workshop,the handling robot in the intelligent textile workshop has many and complex tasks,which increases the difficulty of task allocation,a task adaptive assignment method of handling robot in textile workshop is proposed.Analyze the textile workshop environment,handling task requirements and handling robot parameters,build a robot task adaptive allocation model,initialize the population of genetic algorithm with clonal selection algorithm and calculate its affinity and concentration,obtain the optimal solution of the model through cloning,mutation and selection,and realize the adaptive task allocation of the textile workshop handling robot.The experimental results show that this method has high efficiency,less collision times,short collection time and good practical application effect in the task allocation of the handling robot in the textile workshop.

关 键 词：纺织车间 搬运机器人 任务分配模型 克隆选择算法 变异 模型最优解 

分 类 号：TH16[机械工程—机械制造及自动化] TP24[自动化与计算机技术—检测技术与自动化装置]