多机器人装配生产线的构建与仿真

Construction and Simulation of Multi-robot Assembly Line

以多机器人装配生产线为研究对象,构建由3台ABB工业机器人与传送带组成的虚拟装配生产线。依据工件的装配工序,通过导入内置工业机器人模型以及(离线)编程,创建多机器人系统仿真I/O信号和动态组件,实现生产线系统的离线编程与仿真模拟。通过虚拟系统的仿真,调试并优化装配过程中机器人的部分作业轨迹和运行姿态。研究表明,所构建的多机器人装配生产线满足实际工作需求,能够在虚拟环境下对生产线的运行轨迹进行预规划;该虚拟仿真系统可以为多机器人生产线的设计与制造提供技术参考与可行性依据。

Taking multi-robot assembly line as the object,a simulation assembly line consisting of three robot arms from ABB and a conveyor was presented.I/O signals and dynamic components of the simulation multi-robot system was created bassed on led-in robot modelling and off-line programming by the assembly process that was able to implement the off-line programming and simulation of the manufacturing line system.Finally,some motion curves and postures of the robots in the assembly proces were optimized in virtual simulation.The simulation results show that the proposed scheme satisfies the need for the actual manufacturing process and for preliminary plan of the moving trajectory of robots in virtual simulations,The proposed virtual simulation system can provide technical references and feasibility proofs for designing and manufacturing the multi-robot assembly line for the real world.