PTCWA Index and Layout Optimization of Multi-Robot System
The multi-robot collaborative system is an effective way to improve the automation and flexibility of mechanical man-ufacturing.A robot system layout optimization model and method based on the product of collaborative workspace and public workspace(PTCWA)performance index is proposed.This method uses analytical methods to analyze the public work space and collaborative work space of the multi-robot system,and studies the coupling relationship between the system layout and the two operating spaces.Based on the D-H parameters of the robotic arm and the number of robots,the limit position of the system lay-out is analyzed.The multi-robot system layout optimization model is constructed based on the PTCWA performance indicators and the layout limit position parameters,and the optimization model is optimized with the goal of optimal system performance indicators.Finally,a typical collaborative system composed of three industrial robots is used as an example for simulation verifi-cation.The results show that the optimal system layout parameters of the robot system can be obtained by the optimization solu-tion of the optimization model.
Multi-Robot SystemLayout OptimizationPTCWACollaborative Space
NETL
NSTL
万方数据
