Station layout and motion time cooperative optimization method for six-freedom-degree robot

Abstract

The invention relates to a station layout and motion time cooperative optimization method for a six-freedom-degree robot. The method comprises: S1, kinematical modeling is carried out on a six-freedom-degree robot; S2, according to physical scenes of the six-freedom-degree robot, a starting device, and a target device, a cooperative optimization mathematics model of station layout and motion time is established; and S3, in a space right-angle coordinate system, time of movement of an end effector of the six-freedom-degree robot from the starting device to the target device is used as a fitness value of a PSO algorithm and station layout of the starting device and the target device is used as a particle of the PSO algorithm to carry out processing based on the PSO algorithm so as to obtain an optimal solution of a cooperative optimization mathematics model and station layout corresponding to the optimal solution. Compared with the prior art, the provided method enables station optimization of the six-freedom-degree robot to be realized and the working efficiency of the robot to be improved substantially.

Description

technical field [0001] The invention relates to the field of robot technology and production line planning, in particular to a method for collaborative optimization of station layout and motion time of a six-degree-of-freedom robot. Background technique [0002] After the production line planning is completed, the station needs to be designed. As one of the more difficult designs in station design, robot station design should also consider robot trajectory planning in addition to equipment layout. The traditional robot station design steps are: 1. Station process determination and equipment selection. 2. Equipment and robot layout 3. Robot trajectory planning. In the general robot station in the enterprise, the above method can be used to design the robot station, and in the trajectory planning process, it can be completed only by on-site teaching and programming. However, with the complexity of the robot station and the interaction between the equipment layout and the ro...

AI Technical Summary

Problems solved by technology

Chinese patent CN203816833U discloses a gluing robot, and proposes a novel gluing robot structure, which can well ensure the cleanliness of the discharge and will not cause the unqualified effect of the remaining glue due to the remaining glue at the discharge port. Assembly quality

The patent optimizes the path of the six-degree-of-freedom fruit-picking robot, so that the six-degree-of-freedom fruit-picking robot can pick the most fruits in the shortest time, but the fruit position is uncertain, which is different from the adjustable design of the workstation. Therefore, the patented method is not suitable for station layout optimization

Images