Robot Design And Motion Trajectory Optimization For Two-arm Collaborative Bill Processing

The automatic reimbursement processing of bills has a very good application prospect in the manufacturing field and life service field.The society urgently need to develop mechanical equipment with automatic bill reimbursement processing functions.For the bill processing process two-armed cooperative robot is compared with the one-armed robot.The two-armed cooperative robot has many advantages such as excellent flexibility,excellent environmental adaptability and so on.According to the above argument,the dual-arm cooperative robot is selected as the research object.In the process of automatic reimbursement of bills,the bill moves at high speed,flips,and high-precision dynamic alignment.The complete working space calculation of the robot arm during the automatic reimbursement processing of the bill.Trajectory planning during the automatic reimbursement processing of bills.The problem of algorithm optimization design in the process of automatic reimbursement of bills is analyzed in detail.The dissertation analyzes the characteristics of the bill reimbursement operation process and design indicators.According to the above argument,the structure of the two-arm cooperative robot is designed.The joint drive was designed according to the above argument.The drive is designed according to the above argument.Analyze according to the above argumentation modular design.The space coordinate system of the manipulator is established through the basic theory of kinematics and the D-H convention.The kinematic equation is solved by the basic theory of kinematics.Solve the working space cloud diagram of the end of the manipulator according to the kinematic equation.The Monte Carlo method is used to traverse the range of relative distances of the arms to obtain the maximum intersection area of the workspace.Calculate the relative distance H of the two robot arms based on the maximum intersection area.The basic theory of trajectory planning and 4-3-4 interpolation method are used in the workspace to construct the working trajectory.In this dissertation,the ADAMS software is used to simulate the motion process of the two-arm cooperative robot.The artificial bee colony algorithm is improved by using chaotic local search andadaptive detection strategy.Improve the convergence accuracy and speed of the algorithm.Dissertation optimization algorithm development ability.The dissertation improves the single detection strategy The benchmark function is used to verify the rationality of the improved algorithm.In this dissertation,the improved artificial bee colony algorithm is used to optimize the design of time.Under the premise of considering angular velocity constraint,angular acceleration constraint,angular acceleration variation constraint and torque constraint,the MATLAB software is used for simulation analysis to obtain optimization results.