Layout Optimization For Theworkcell Of A 3-DOF Parallelrobot With Limbs Ofembedding Structures

The layout of robot workcell is an important part of design,which is of great significance to improve the working efficiency of the robot workcell and reduce the cycle energy consumption of the robot.The research object of this paper is the workcell of a3-DOF parallel robot with limbs of embedding structures used for silicon wafer transmission.The robot kinematic constraints are taken into account,and the layout optimization of robot workcell and robot trajectory planning are implemented synchronously,so as to overcome the error of the traditional sequential design on the working efficiency of the robot and ensure the working effectiveness.First of all,aiming at the low working efficiency of the workcell of silicon wafer transfer robot,a layout optimization method suitable for the workcell of a 3-DOF parallel robot with limbs of embedding structures is used based on the analysis of relevant researches at home and abroad.Secondly,the working space and the kinematics model of the robot are established,and the simplified model of the equipment which to be laid out around the robot and the interference test are completed.The positional relationship between the robot's posture and the devices is analyzed and obtained.In addition,the trajectory planning is carried out in the joint space of the robot using the shortest path planning theory,and the motion time of the robot is obtained combined with the joint kinematic constraints.The robot dynamics model is established,and the energy consumption equation is obtained by the formula of energy calculation.The cycle movement time and energy consumption of the robot are taken as the evaluation indexes of the layout and the layout optimization model of the robot workcell is established according to the layout constraints.Finally,the method is verified with the actual case.The experimental results show that this method can achieve the layout optimization and robot trajectory planning synchronously.Moreover,the movement time and energy consumption of robots are significantly improved.The validity and practicability of the layout optimization method are proved.