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机器人工作单元内设备布局优化 被引量:2

Robot Workcell Equipment Layout Optimization
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摘要 针对现有工业机器人工作单元内设备布局优化方法的不足,通过研究设备的作业路径点在机器人工作空间中的可行域,运用OBB分离轴测试原理进行设备干涉检测,提出以机器人作业轨迹的作业时间与耗能的适应度函数来进行布局优化,并获得满意的布局方案。该方法不仅将自动化工作单元的布局问题与机器人技术应用相结合,并且为其提供了辅助布局的工具方法。 To the existing deficiencies of the equipment layout optimization in industrial robot workcell,we investigate the feasible region of equipment operation trajectory point in the robot workspace,apply the disengaging shaft test of OBB to test equipment's interference,and bring in the robot's operation trajectory of operation time and the energy evaluation function,in order to obtain the optimal layout scheme.This method not only combines the layout problem of the automatic workcell with robot application technology,but also provides an auxiliary tool layout method.
出处 《机械工程与自动化》 2016年第6期29-30,33,共3页 Mechanical Engineering & Automation
基金 国家基金委-广东省联合基金项目(U1401240) 广东省自然科学基金资助项目(S2013020012797) 国家自然科学基金资助项目(51375095)
关键词 设备布局 机器人工作空间 干涉检测 遗传算法 优化 equipment layout robot work space interference detection genetic algorithm optimization
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