Research On The Key Technology Of Dual Robotic Machining Center

Due to the deficiency of high complexity, low inefficiency and high costs of hole machining for automobile dashboards, dual robotic machining centers was introduced in this paper. Furthermore, key technology of dual robotic machining centers were studied to improve the production efficiency, reduce production costs, so as to improve the intelligence and automation level of production enterprises. The main research contents of this paper are summarized as follows:1. The layout optimization and simulation analysis of dual robotic machining center. On the basis of the initial layout of the dual robot machining center, the layout optimization scheme of dual robotic machining center was given by using the genetic algorithm with the maximum of the dual robot working space as the target. According the given scheme, the layout of the dual robot machining center is completed to improve the production capacity and processing efficiency of the processing center. The layout optimization and simulation analysis of dual robotic machining center2. The task assignment and robot path planning of dual robotic machining center. First, the hole feature information of dashboard and the processing path information were stored in the product database to achieve the intelligence and versatility of the dashboard processing. In actual production, hole location information of car dashboard will obtain and the tasks of the two robots are assigned based on the absolute minimum value of the difference between the two robots'milling path length. Then, taking the shortest path of the milling as target, the robot's path planning process was given by using the improved ant colony algorithm.3. The collision detection of dual robotic machining center. Due to the two robot movement in the same space, there exist the possibility of collision between robots. In order to solve the problem, the collision detection scheme is proposed to forecast the collision between the dual robots based on conflicting-graph. First, With the establishment of the robot geometric model was established and the minimum distance between two robots was calculated.The two robots collision detection problem in 3D is transformed to the two-dimensional space collision detection problem, which is more easy to be solved. Finally, on the basis of above, combined with the conflict graph obtained and the robot trajectory, the position relationship between the trajectory and the conflict graph was observed based on the above research and a possible collision can be find clearly.4.The online collision avoidance technology of dual robotic machining center. The online robot collision avoidance system was set up by adopting the four level instruction system. According to the actual production situation, the online robot collision avoidance system are detect possible collision and insert the minimum time delay to avoid collision process under the premise of the best trajectory in single robot. Finally, a prototype system of dual robotic machining center was established which initially realized the task allocation, path planning, collision detection and collision avoidance, etc.