Research On Several Key Technologies Of Dual Robotic Work Unit Layout

With the expansion of the application scope of industrial robot,operation tasks are becoming more and more complex.The layout of robot work units based on traditional human-computer interaction mode is difficult to meet people's various needs.In the current robot work cell layout application,the traditional accessibility analysis method based on the size of the robot workspace is difficult to adapt to the requirements of high-precision parts processing.For dual robot working units with unbalanced task assignment,it is not effective to improve the machining efficiency by optimizing the robot's motion trajectory.For the robot work unit with fixed task trajectory,the energy consumption of robot operation is limited by optimizing the robot motion trajectory parameters.The thesis is divided into six chapters,the main contents are as follows:Firstly,for the problem that there are multiple base marking systems in the dual robot working unit,the knowledge of coordinate transformation of spatial points in different robot base coordinate systems is introduced.Then we take the IRB1600 robot as the research object,establish its linkage coordinate system for obtaining its D-H parameters and establishing the mapping relationship of the Cartesian space of the joint space.The traditional analytical method solves the problem of multiple solutions of inverse kinematics of machine.This paper uses Newton-Raphson iterative method to solve the uniqueness of inverse solution.Research on double robot work unit layout optimization based on flexibility analysis.Based on Monte Carlo method,a robot workspace model is established and its size is analyzed.Secondly,flexibility parameters are introduced to quantify the degree of robot terminal flexibility.On this basis,service ball theory is used to visually express the flexibility of a point in the robot workspace.The layout of the dual robot working unit is determined by optimizing the overall flexibility value of the processing area.The layout optimization of dual robot work units based on coincidence rate is studied.The mathematical modeling of the equipment in the dual robot working unit is carried out and its constraint equation is established.The coincidence area of the two robots on the workspace is quantified by coincidence rate.With the maximum coincidence rate as the goal,the multi-robot work unit layout optimization problem is simplified to a nonlinear problem,which is solved by genetic algorithm,and the optimal location solution is sought from the global scope.In view of the unbalanced task allocation and low processing efficiency in the original layout state,the task allocation tends to be balanced through layout optimization,so as to improve the overall work efficiency of the unit.Research on the optimization of dual robot work cell layout based on joint energy assessment.According to Newton-Euler method and Lagrange method,the dynamic model of the robot is established.According to the actual working scene,the energy consumption evaluation model of robot joint is established to simplify the solution of energy consumption of robot motion.The influence of friction torque,driving torque and work unit layout on robot energy consumption is analyzed.Under the condition of satisfying the necessary constraints of the working unit,the energy consumption of robot motion can be reduced by optimizing the layout of the working unit.