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Station layout method for reducing movement energy consumption of robot

A technology of robot movement and layout method, which is applied in the direction of manipulators, manufacturing tools, program control manipulators, etc., and can solve the problems of not considering the interaction between station layout and robot trajectory planning

Active Publication Date: 2020-04-28
TONGJI UNIV
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Problems solved by technology

[0006] A station layout method for reducing robot motion energy consumption, which is used to solve the problem that the interaction between station layout and robot trajectory planning is not considered in the serial design process of automated processing units, including the following steps:

Method used

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  • Station layout method for reducing movement energy consumption of robot
  • Station layout method for reducing movement energy consumption of robot
  • Station layout method for reducing movement energy consumption of robot

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Embodiment

[0096] This embodiment studies the influence of station layout on robot movement energy consumption. Based on dynamic station layout, a robot movement energy consumption optimization model is established, and particle swarm algorithm is used to solve a set of optimal station layout schemes to make the robot move Minimal energy consumption.

[0097] The goal of the layout problem is to determine the location of the object. The traditional work station layout requires that on the basis of realizing the station function, combined with production experience, the equipment is as compact as possible and the floor space is reduced. This paper studies the layout problem of automated processing cells with robots, and solves the layout of workstations that minimizes the energy consumption of robots. Each processing equipment in the processing unit is continuously activated, and the industrial robot is fixed inside the unit, and performs periodic movement according to a certain law, and is ...

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Abstract

The invention relates to a station layout method for reducing movement energy consumption of a robot. The station layout method comprises the following steps: S1, establishing a kinematic and kineticmodel of a six-degree of freedom robot; S2, designing an inverse kinematics algorithm according to the theory of the robot inverse kinematics to convert the Cartesian space position coordinates into the robot joint angle, and utilizing the quintic polynomial interpolation to determine the joint movement function; S3, carrying out kinetic analysis based on the lagrange equation, and building a robot energy consumption optimization model through the joint torque and integral of speed product; and S4, adopting the particle swarm optimization (PSO) to obtain a station layout scheme with lower energy consumption through solving. The model validity is demonstrated through the case. Compared with the prior art, the station layout method has an excellent robot movement energy consumption optimization effect.

Description

Technical field [0001] The invention relates to the field of robot technology and production line planning, in particular to a work station layout method for reducing energy consumption of robot movement. Background technique [0002] High-efficiency automated processing units are widely used in modern manufacturing enterprises. Industrial robots, as key equipment, play an important role in improving production efficiency and reducing the workload of workers. The design of the processing unit is usually carried out in a serial manner, and the process analysis, equipment layout and robot trajectory planning are completed in sequence. Regarding the optimization of the station layout and the planning of the robot trajectory, many documents at home and abroad have made certain analysis and research, but most of the documents are for the single link of the processing unit design process. Few people consider the influence of the layout of the workstation and the motion trajectory of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1628B25J9/1679
Inventor 徐立云徐准张剑刘雪梅马淑梅
Owner TONGJI UNIV
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