多机器人系统PTCWA指标与布局优化
PTCWA Index and Layout Optimization of Multi-Robot System
李龙 1季波 2田应仲3
作者信息
- 1. 上海市智能制造及机器人重点实验室,上海 200072;上海大学机电工程与自动化学院,上海 200072;上海大学人工智能研究院,上海 200072;同济大学上海智能科学与技术研究院,上海 200072
- 2. 上海市智能制造及机器人重点实验室,上海 200072;上海大学机电工程与自动化学院,上海 200072;上海大学人工智能研究院,上海 200072
- 3. 上海市智能制造及机器人重点实验室,上海 200072;上海大学机电工程与自动化学院,上海 200072
- 折叠
摘要
机器人协作系统是提高机械制造加工自动化与灵活性的有效方式,提出了一种基于协作工作空间与公共工作空间乘积(PTCWA)性能指标的机器人系统布局优化模型与方法.该方法采用解析法对多机械臂系统的公共工作空间和协同工作空间进行分析,研究系统布局与两种操作空间之间的耦合关系.基于机械臂D-H参数与机器人数量,对系统布局的极限位置进行分析.基于PTCWA性能指标与布局极限位置参数构建多臂系统布局优化模型,以系统性能指标最优为目标对优化模型进行优化求解.最后以由三个工业机器人组成的典型协作系统为实例进行仿真验证,结果表明以该优化模型进行优化求解可以得到机器人系统的最优系统布局参数.
Abstract
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.
关键词
多机器人系统/布局优化/PTCWA/协作空间Key words
Multi-Robot System/Layout Optimization/PTCWA/Collaborative Space引用本文复制引用
基金项目
上海市自然科学基金(21ZR1423000)
上海市青年科技启明星计划(20QA1403900)
机械结构力学及控制国家重点实验室开放基金(MCMS-E-0320G01)
出版年
2024
NETL
NSTL
万方数据