Multi-Objective Machining Path Optimization Of 3C Locking Robots

The topic comes from the special project of artificial intelligence technology innovation of Chongqing Science and Technology Commission "robot collaborative research and development and industrialization for 3C industry(cstc2017rgzn zdyfx0038)".3C locking robot is widely used in manufacturing and production industrialization,among which SCARA type locking robot is widely used in 3C assembly industry due to its advantages of simple structure and comprehensive functions,with the largest number and the widest application.For 3C products,efficiency and accuracy have always been the goal of improving.The smoothness of the end effect or motion track of SCARA locking robot directly affects the accuracy and efficiency in the assembly process,but the traditional path optimization rarely involves the smoothness of motion.Therefore,the research on machining path smoothness and path optimization of 3C locking SCARA robot has theoretical and engineering significance for improving machining efficiency and accuracy.The main contents of this paper are as follows:(1)In this paper,the SCARA robot is modeled by DH method,the pose matrix equation of the robot is constructed,and the positive solution is obtained through the pose matrix.The inverse problem of the robot is transformed into the nonlinear multi line function to find the extreme value model,and the robot motion model is parameterized.(2)Based on the analysis of assembly state of 3C locking SCARA robot,the range parameters of deflection angle were calculated.This paper analyzes the machining model of SCARA robot on 3C assembly line,and establishes the mathematical model of locking assembly path optimization aiming at the shortest total length.B-spline interpolation method is used to optimize the trajectory,and the expression of B-spline interpolation function is solved,and the parameters such as velocity and acceleration of the trajectory are constrained.(3)This paper analyzes the principle and advantages of the ant colony algorithm in seeking the extremum of multiple nonlinear functions and multi region path optimization,constructs the solution process of the ant colony algorithm based on the fitness function,and designs the initial ant colony distribution according to the requirements of the design location of multi region floating holes,so as to ensure the accuracy of the solution and avoid falling into the local optimum.(4)Based on the kinematic smoothness machining path optimization model of 3C locking robot,the kinematic smoothness machining path optimization model of 3C locking robot with fixed bolt hole and floating bolt hole is solved respectively.The path length of the optimal path under the fixed hole,considering the smoothness optimization of the fixed hole and the smoothness optimization conditions of the floating hole in multiple areas are compared to determine the path optimization and multiple areas The influence factors of floating hole position on the optimal path.The algorithm is used to find the inverse solution of SCARA robot,and the trajectory of the optimal path of fixed hole,the trajectory of fixed point considering the smoothness optimization,and the trajectory of multi area floating hole considering the smoothness optimization are compared,which proves the necessity and effect of trajectory optimization.