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A station layout method for reducing robot motion energy consumption

A technology of robot motion and layout method, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve the problem of not considering the interaction between station layout and robot trajectory planning, and achieve low robot motion energy consumption, simple and effective algorithms, The effect of reducing work energy consumption

Active Publication Date: 2021-11-09
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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  • A station layout method for reducing robot motion energy consumption
  • A station layout method for reducing robot motion energy consumption
  • A station layout method for reducing robot motion energy consumption

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Embodiment

[0096] This embodiment studies the impact of the station layout on the energy consumption of robot, and the dynamic station layout establishes robot sports energy optimization model, and the particle group algorithm is used to solve a set of optimal station layout schemes, so that the movement of the robot Minimal energy consumption.

[0097] The goal of the layout problem is to determine the location of the object, and the traditional station layout requires that combined production experience is compact, reducing the floor area. This paper studies the layout problem of automated processing units with robots, and solices a minimal power consumption of robots. The processing units are continuously started, and the industrial robots are fixed inside the unit, and perform cyclical motion in accordance with certain laws, responsible for the flow of workpieces between the processing equipment. The equipment layout determines the start and end of the robot's motion path, which has a la...

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Abstract

The invention relates to a station layout method for reducing robot movement energy consumption. It includes the following steps: S1: Establish the kinematics and dynamics model of the six-degree-of-freedom robot; S2: Design an inverse solution algorithm based on the robot inverse kinematics theory, convert the Cartesian space position coordinates into robot joint angles, and use quintic polynomial interpolation to determine Joint motion function; S3: Dynamics analysis based on Lagrangian equation, constructing robot energy consumption optimization model by integral of joint torque and speed product; S4: Solving with particle swarm optimization (PSO) to obtain lower energy consumption bit layout scheme. The effectiveness of the model is demonstrated through a case. Compared with the existing technology, this method has a good effect of optimizing the energy consumption of robot motion.

Description

Technical field [0001] The present invention relates to robotics and planning of production line, and more particularly, to a station layout method robot motion energy decreases. Background technique [0002] Efficient automated processing unit is widely used in modern manufacturing enterprises, industrial robots as a key device, play an important role in improving the productivity and reduce the workloads of workers. Design and processing unit usually serial manner, in order to complete the process analysis, layout, and a robot path planning device and so on. For two aspects of robot trajectory planning and optimization of the layout of the station, there have been many domestic and foreign literature made some analysis and research, but most of the literature are studied for a single processing unit part of the design process, it is few people consider the impact trajectory station layout and operation of the robot. [0003] Chinese Patent CN105676642A discloses a synergistic s...

Claims

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Application Information

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Patent Type & Authority Patents(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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