Research On Cooperative Welding Path Planning Of Automotive Interior And Exterior Trim For Multiple Robots

Automobile manufacturing is an important industry in China,which occupies a critical position in the whole manufacturing industry,and auto parts manufacturing have a key role on the overall development of automobile.The welding production of auto parts,especially the interior and exterior accessories of automobile,is still in simple and low-level manual production.In order to meet the demand of high-rhythm and high-efficient welding production,most welding is now automatically completed by robots.At present,the welding of interior and exterior accessories of automobile mainly relies on technician to plan path for welding robots.Facing the welding tasks with numerous and complex distribution soldered dots,artificial planning is time-consuming and ineffective.Therefore,it is of great significance to study the path planning of multi-robot for reducing welding time and improving welding production efficiency.Considering a car's door panel as welding object,this thesis mainly studies the path planning of single and multiple welding robots.Firstly,from the welding technology and production line process of the interior and exterior accessories of the automobile,the article analyzes the planning task of welding path,and determines the target of the welding path planning.Then,the genetic algorithm is selected to solve the optimal welding path problem.At the same time,some defects of basic genetic algorithm are improved and optimized,and put forward an improved genetic algorithm(GA-STA).Under consideration of process constraints,considered shortest path length as the optimization criterion,GA-STA is used to plan the welding path.Secondly,the multi-robot collaborative welding path planning is studied.This paper analyzes objectives and constraints of multi-robot welding path planning,and then determines the procedure of path planning.Then,the multi-robot welding spot distribution and interference with other robots are analyzed and modeled,and the multi-knapsack model based on Ant Colony Optimization is designed.Therefore,multiple robots welding path planning is transferred into several single welding robots to plan path.Finally,taking two and four robots welding as example,the feasibility and rationality of the algorithm is verified by simulation.