汽车门板内饰多机器人焊接的动态协同规划  

Multi-Robot Welding Dynamic Cooperating Programming of Vehicle Door Panel Interior Trim

作　　者：孙小丽[1] 张宏[2] SUN Xiao-li;ZHANG Hong(Inner Mongolia Vocational and Technical College of Communication,Inner Mongolia Chifeng 024005,China;Inner Mongolia University,Inner Mongolia Hohhot 010021,China)

机构地区：[1]内蒙古交通职业技术学院,内蒙古赤峰024005 [2]内蒙古大学,内蒙古呼和浩特010021

出　　处：《机械设计与制造》2024年第5期351-355,362,共6页Machinery Design & Manufacture

基　　金：2017年度内蒙古自治区高等学校科学研究项目(NJSY17643)。

摘　　要：为了减小多机器人协同焊接的路径长度并提高机器人之间的负载均衡度,提出了基于动态规划-个体差异进化遗传算法的协同焊接规划方法。以多机器人协同焊接路径长度、负载均衡度为优化目标建立了优化模型,并分析了协同焊接约束条件。针对单机器人焊接路径规划问题,在遗传算法中针对染色体进化能力的差异性,提出了个体差异进化策略,给出了基于个体差异进化遗传算法的路径规划方法。针对多机器人协同焊接问题,使用动态规划将其划分为3个子问题,实现了多机器人协同焊接任务分配和路径规划。经某型汽车前门焊点路径规划验证,个体差异进化遗传算法规划的路径最佳长度、平均长度均优于传统遗传算法;经后门焊点的4机器人协同焊接验证,在满足无干涉约束下,这里方法的路径长度、负载均衡度优于文献[11]离散粒子群算法。实验验证了这里方法在多机器人协同焊接分配和规划问题中的优越性。In order to reduce the path length of multi robot cooperative welding and improve the load balance between robots,a cooperative welding planning method based on dynamic programming individual difference evolutionary genetic algorithm is pro-posed.Taking the path length and load balance degree of multi robot cooperative welding as the optimization objectives,the opti-mization model is established,and the constraints of cooperative welding are analyzed.Aiming at the welding path planning problem of single robot,aiming at the difference of chromosome evolution ability in genetic algorithm,an individual difference evolution rate is proposed,and a path planning method based on individual difference evolution genetic algorithm is given.Aim-ing at the multi robot cooperative welding problem,it is divided into three sub problems by dynamic programming,and the multi robot cooperative welding task allocation and path planning are realized.Through the verification of the solder joint path plan-ning of the front door of an automobile,the optimal length and average length of the path planned by the individual difference evolutionary genetic algorithm are better than the traditional genetic algorithm;It is verified by 4 Robots Cooperative welding of the back door solder joint that the path length and load balancing degree of this method are better than the discrete particle swarm optimization algorithm in reference[11]under the condition of meeting the interference free constraint.Experiments show the superi-ority of this method in multi robot cooperative welding allocation and planning.

关 键 词：多机器人 协同焊接 动态规划 遗传算法 个体差异进化 

分 类 号：TH16[机械工程—机械制造及自动化] TG506[金属学及工艺—金属切削加工及机床] TH162