Optimization and Simulation of Loading and Unloading Robot Structure Parameter of Production Line

Chuan Liao; Yinghua Liao; Jun Xie

doi:10.16578/j.issn.1004.2539.2020.08.017

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Optimization and Simulation of Loading and Unloading Robot Structure Parameter of Production Line

Design· Calculation | 更新时间：2022-11-10

- Optimization and Simulation of Loading and Unloading Robot Structure Parameter of Production Line
- Journal of Mechanical Transmission Vol. 44, Issue 8, Pages: 98-102(2020)
- 作者机构：
  
  1.四川轻化工大学机械工程学院，四川宜宾 644000
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2020.08.017
  CLC：
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廖川,廖映华,谢军.生产线上下料机器人结构参数优化与仿真[J].机械传动,2020,44(08):98-102.

Liao Chuan,Liao Yinghua,Xie Jun.Optimization and Simulation of Loading and Unloading Robot Structure Parameter of Production Line[J].Journal of Mechanical Transmission,2020,44(08):98-102.
廖川,廖映华,谢军.生产线上下料机器人结构参数优化与仿真[J].机械传动,2020,44(08):98-102. DOI： 10.16578/j.issn.1004.2539.2020.08.017.

Liao Chuan,Liao Yinghua,Xie Jun.Optimization and Simulation of Loading and Unloading Robot Structure Parameter of Production Line[J].Journal of Mechanical Transmission,2020,44(08):98-102. DOI： 10.16578/j.issn.1004.2539.2020.08.017.

摘要

生产线布局规划与机器人结构参数关系密切。针对某立式加工中心主轴箱智能生产线，为完成抓取、翻转工件等工作要求，同时减少机器人的操作空间和结构尺寸，提出了一种应用于上下料机器人的结构参数优化方法：以工艺要求的工作空间为约束条件，以机械手工作空间纵平面包络面最优为目标函数，建立结构参数优化模型。采用蒙特卡洛法进行工作空间对比验证，结果表明，在满足上下料工作空间的要求下，优化后的机器人工作空间大小明显低于其他设计方案，减少了工作空间的冗余浪费，为进一步生产线上下料机器人设计研究奠定了基础。

Abstract

Production line layout planning is closely related to robot structural parameter. For the intelligent production line of the headstock of a vertical machining center， in order to complete the work requirements of grabbing and flipping the workpiece， and reducing the operating space and structure size of the robot， a structural parameter optimization method for loading and unloading robots is proposed. The working space is a constraint condition， and the optimal section of the main section of the manipulator workspace is the objective function， and the structural parameter optimization model is established. Finally， the Monte Carlo method is used to verify the workspace. The results show that the size of the optimized robot workspace is significantly lower than other design schemes under the requirements of the loading and unloading workspace， which reduces the redundant waste of the workspace and further reduces the workload. The foundation of the design research of loading and unloading robot is laid.

关键词

生产线结构参数机器人蒙特卡洛法

Keywords

Production lineStructural parameterRobotMonte Carlo method

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