Sheet metal part sorting sequence planning based on dual-arm co-axial truss robot
To address the problems of long operation time and low efficiency due to the need to wait in place for dual-arm co-axial truss robot to avoid self-collision between arms in the sheet metal part sorting process,a sorting se-quence planning method considering self-collision was proposed.The two arms were marked master and slave arms respectively.For the master arm,the Lin-Kernighan-Helsgaun(LKH)algorithm was used;for the slave arm,the genetic algorithm combined with the LKH algorithm was used.Self-collision between the two arms was considered in the planning of the slave arm to reduce the waiting time and improve the operation efficiency of the sorting process.In the numerical simulation validation,the proposed method was compared with mere LKH algorithm for both arms.The simulation results showed that the proposed method could reduce the operation time by more than 4％compared with the method without considering self-collision.The method could also be extended to multi-arm co-axial truss robot.
sheet metal partsorting sequence planningLin-Kernighan-Helsgaun algorithmgenetic algorithms
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