摘要
首先建立了面向大型仪表板的双机器人作业加工单元,为了保证机器人和工件不发生碰撞,提出了以双机器人的工作空间重合率最大为目标、基于遗传算法的双机器人加工中心优化布局方法,建立了空间约束的数学模型,利用MATLAB软件进行仿真分析,并从空间重合率、加工周期两个方面进行比较。结果表明:相对于公司现有状态,空间重合率提高了14.6%,加工周期缩短了1.2min,验证了该方法的有效性和可行性。
First,a dual-robot operation processing unit for large dashboard was established. Under the premise of ensuring the robot and the workpieee working without collision, in order to maximize the sharing working space rate of two robots, a method to optimize the layout of the double robotic workcell was proeesd based on genetic algorithm with MATLAB software simulation analysis. Besides, the sharing working space rate and the processing cycle were compared. The results show that： relative to the company＇s existing state,the sharing working space rate is increased by 14.6 percent, and the cycle time is reduced by 1.2 min, which demonstrates the effectiveness and feasibility of the method.
出处
《中国机械工程》
EI
CAS
CSCD
北大核心
2016年第2期173-178,共6页
China Mechanical Engineering
基金
江苏省科技厅产学研联合创新资金-前瞻性联合研究项目(BY2014004-02)
关键词
机器人
加工中心
布局优化
遗传算法
robot
machining center
layout optimization
genetic algorithm
