Design and Research of Heavy-duty Posture-adjusting Assembly Robots in Narrow Space
In response to the issues of a wide variety of equipment,large batches,heavy payloads,limited space,complex assembly paths,and high assembly risks inside the cabin,a heavy-duty posi-tioning and assembly robot was designed.Based on the study of the robot kinematics,an error model was established.With the radius of minimum bounding sphere as the constraint condition,the identification results of error parameters by genetic algorithm were compensated into the robot control system.Taking cabinet assembly as an example,a working path was planned based on spatial con-straint conditions.By a dynamic constraint energy consumption function model,multi-objective opti-mal trajectories were obtained with time,impact,and energy consumption as optimization objectives.Prototype testing verified the effectiveness of the error parameter identification,which reduces the ab-solute positioning errors of the robot.Moreover,the multi-objective optimal trajectory has a small to-tal joint impact and smooth motion,achieving efficient,smooth,and reliable installation of cabinet-type equipment.
万方数据
维普
