Design And Study Of Lead Sintering Production Line Robot System Based On MAS

In the rapid development of science and technology,manual labor replaced by robotics has become an inevitable trend.In the early stage,the main research problems of single robot are structure design,kinematics equations,control theory,communication etc.But for some complex tasks which need to be completed efficiently,the single robot shows incompetent phenomenon.For this situation,the research of robot gradually converted from single robot to multi agent system(MAS).To complete the expected tasks by multi agent coordination and collision avoidance.Through the intervention of MAS,making the design difficulty of single robot fall,implementing parallel of MAS by the cooperation of simple robot and the whole system can perform complex tasks more efficiently.In view of the above problems,we take lead core sintering production line automation transformation of a pencil core factory as background,to design a MAS that can meet the needs of lead core sintering production line.The introduction of the MAS has completed all the production of lead core canning,furnace,install dip oil tank,loading.It make the factory workers free from the heavy manual labor and poor working environment,and improve the production efficiency and product quality greatly.In this paper firstly analysis the advantage and disadvantage of various structures in robot according to needs of the system.Through combining with the actual demand choose right angle coordinate robot as the major component part of the MAS,and complete the entire production process by Combining with several other types of robot.According to the characteristics of each robot,analysis the key structure stress by using SolidWorks,to verify the stability of the robot mechanical structure.According to the mechanical structure of the robot system,take STM32F407 as the core processor of the control system.In the input and output interface by adopting the Opto-couplers isolation and ULN2003 to increase the drive way and effectively protect the core processor.The whole system has the capability to drive more controlled power element.By adopting DP83848,MAX3232,SN65VHD230 chip connect with the controller,the system has rich and stable communication interface(Ethernet interface,UART interface,CAN interface *2).These interfaces effectively protect the coordination of internal system and the reliable and stable of communication between processor with the remote and on-site monitoring display equipment.Based on the design of underlying hardware of control system and the mechanicalstructure,robots implement task allocation and obstacle avoidance in the running process by the integrated using of improved contract net method and artificial potential field method.Aiming at traditional contract net exists the defect of large communication capacity,the parameters of credibility and friendly degrees are adopted.Aiming at the characteristic various type of robots are exist in the system,the task contractor attribute parameters are put forward to improve the contract net model.Combining the characteristic of obstacle avoidance is influenced by velocity and acceleration in operating process of the robotic system,the parameters of velocity and acceleration are adopted to improve traditional artificial potential field method,obstacle avoidance of the robot is implimented by moving obstacle robot when the robots meet.After simulation and practicality experiments,communication capacity of the system reduce about twice,and can be verified to complete the entire production process efficiently and stably,the workers are also freed from the harsh working environments.