Research On The Cooperative Assembly System Of Industrial Robot

As robots are widely used in different industries,robots play an increasingly important role in the work and life of human beings.Under the premise of market demand and policy encouragement,the development of robotic market is very rapid.The efficiency of single industrial robots that can not be completed or completed is extremely low,It is difficult to meet the production needs;and a number of industrial robots collaborative work through the sharing of information to achieve collaboration has become a research hotspot.Two-robot collaboration is a foundation of multi-robot collaboration.The main contents are as follows:(1)The construction principle of the two-robot collaborative assembly system is discussed.The principles of construction of the two-robot collaborative assembly system are analyzed respectively from five aspects of safety,functionality,integration,stability and high efficiency.According to the specific requirements of the button assembly task and robot Ability to work out the basic functions of the system.Designing the required equipment and elaborating on the functions of the main equipment in the system composition,drawing the three-dimensional model of the equipment,laying a solid foundation for the subsequent work.With the modular design concept of the control system planning,planning the entire system for multiple modules,coordination between modules,information sharing,to ensure that the work of real-time communication in various modules,this is a complete two-robot collaborative control System,the final complete description of the work flow of the two-robot collaborative assembly system.(2)Combing the existing control system structure,a layered control structure is designed and the calibration method of dual robot coordinate system is determined.Based on the existing collaborative strategy,combined with the task of button assembly and the composition of the two-robot collaborative assembly system,a hybrid collaborative control strategy is proposed,and the detailed working mode of the strategy is discussed.(3)A mathematical model with multiple optimization objectives is built on the trajectory of the two-robot collaborative assembly system.The collision detection between the robot and its peripheral equipment and two robots is proposed.Quantum particle swarm optimization algorithm is used to optimize the trajectory of the two-robot collaborative assembly.Under the premise of not colliding with each other,the two industrial robots are optimized to meet the kinematic constraints,the optimal execution time and the optimal smooth trajectory simultaneously,and the working time and posture of the two robots in the button assembly task are optimized.Get a reasonable job track.Through the joint simulation of MATLAB and ADAMS,the feasibility and effectiveness of the algorithm are verified.(4)Experiments show : after trajectory optimization,the qualified rate of the button assembly is increased 13.3%,the assembly of a qualified button took an average reduction of 14.5 seconds,If the system works at 100% working speed,the data will have greater improvement and practical significance.In the process of the two experiments,the collision of the robot was not found,which fully explained that the cooperative strategy of the dual machine cooperative assembly system was effective and feasible.