Research On Modeling Optimization And Collision Avoidance Of Robot Arm Assembly System

In recent years,with the rapid development of science and technology,social productivity has also been greatly improved.Modern manufacturing industry is facing the trend of higher and higher automation,renewal of workshop products and sharp increase of demand for new products.In this context,the research of assembly system balance and anti-collision of assembly robots has gradually become a research hotspot.Balancing of assembly system and anti-collision of assembly robot are important issues in the design and management of assembly system,which directly affect the production efficiency and production cycle of complex product manufacturing system.Based on the analysis of the research methods of balancing and anti-collision of assembly robots for complex products,this paper takes the assembly system of robotic arm as the application object.The organization of this paper is as follows:Firstly,supported by the project of "Robot Arm Assembly System Optimization and Upgrading" of Nanjing Panda Electronics Co.,Ltd.,combined with the current situation of the system and the needs of the enterprise,many problems in the process of assembly system optimization and upgrading are summarized.On this basis,the overall logical analysis and research ideas are summarized.Secondly,aiming at the problem of assembly system modeling,a system modeling method based on timed Petri net is proposed.And the modeling of robot arm assembly system is completed,which provides a model basis for dynamic optimization of subsequent assembly line balance.Thirdly,aiming at the optimization of assembly system.By improving the traditional genetic algorithm to make it conform to the characteristics of assembly system in manufacturing system.Then it has been applied to the robot arm assembly system and the optimal solution of assembly system balance is obtained.Fourthly,through the production system simulation software Flexsim,the optimized robot arm assembly system is modeled and simulated.Then the effect diagram,the working status diagram and the analysis data table of the robot arm assembly system are obtained.Through the analysis of simulation results,the feasibility of assembly process allocation scheme based on improved genetic algorithm optimization is verified.Fifthly,under the requirement of multi-varieties and small batch production,the rapid diechanging scheme of fixture is studied from the perspective of technology,and a set of efficient fast die changing scheme is put forward.The superiority of the fast die changing scheme is verified by comparing the results before and after optimization.Sixthly,in the research of the robot anti-collision system,the structure sketch and link coordinate system of the manipulator are given at first.After obtaining the D-H parameters,the forward and inverse kinematics of the manipulator are analyzed.The model is simplified by sweeping sphere method,and then the collision detection is completed.Then,a velocity vector field method based on artificial potential field method is proposed to guide the manipulator to realize collision avoidance motion.On this basis,the proportional repulsion law of velocity vector field is improved to the exponential repulsion law,which makes the manipulator operate more smoothly.Finally,in the presence of static and multiple obstacles,the simulation experiment of the collision avoidance trajectory of the manipulator is carried out by using MATLAB tool,and the three-dimensional motion simulation of the collision avoidance motion is carried out intuitively by using OpenGL tool,which verifies the superiority of the collision avoidance algorithm proposed in this paper.