摘要
目的为了改变电容人工装盘方式,提高电容装盘自动化程度及效率,选用SCARA型机器人代替人工方式,并对其进行轨迹规划,避免运动冲击影响电容装盘稳定性以及精确性。方法首先介绍SCARA机器人的结构和电容装盘过程,然后利用五次非均匀B样条曲线完成轨迹曲线的构造,最后提出带罚函数的遗传算法,以实现时间最优的机器人轨迹规划过程。结果仿真结果表明,机器人装盘时间用时更短,且运动平稳无冲击,验证了算法的有效性。结论该轨迹规划方法能够满足实际生产要求,提高了电容搬运装盘质量及效率。
The paper aims to change the mode of manual capacitor loading and improve the automation degree and efficiency of capacitor loading. SCARA robot was selected to replace the manual mode and carry out trajectory planning to avoid motion impact affecting the stability and accuracy of capacitor loading. The structure of SCARA robot and the process of capacitor loading were introduced, and then the trajectory curve was constructed with five non-uniform b-spline curves. Finally, a genetic algorithm with penalty function was proposed to realize the trajectory planning process of robots with optimal time. The simulation results showed that the robot loading was shorter and the motion was smooth without impact, which verified the effectiveness of the algorithm. The trajectory planning method can meet the actual production requirements and improve the quality and efficiency of capacitor handing and loading.
作者
钟飞
黄振
ZHONG Fei;HUANG Zhen(Hubei University of Technology, Wuhan 430068, China)
出处
《包装工程》
CAS
北大核心
2019年第9期185-191,共7页
Packaging Engineering
基金
湖北省技术创新专项(重大项目)(2018AAA026)
关键词
电容装盘机器人
轨迹规划
时间最优
带罚函数遗传算法
capacitor loading robot
trajectory planning
optimal time
genetic algorithm with penalty function
