Spatial Position Optimization of Components in the Labeling Robot System for Bundled Bars

Zhang Fuxiang; Zheng Yu; Huang Yongjian; Wang Chunmei; Huang Fengshan

doi:10.16578/j.issn.1004.2539.2022.10.008

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Spatial Position Optimization of Components in the Labeling Robot System for Bundled Bars

Design· Calculation | 更新时间：2022-11-05

- Spatial Position Optimization of Components in the Labeling Robot System for Bundled Bars
- Journal of Mechanical Transmission Vol. 46, Issue 10, Pages: 49-54(2022)
- 作者机构：
  
  1.河北科技大学机械工程学院，河北石家庄 050018
  2.石家庄钢铁有限责任公司，河北石家庄 050031
  3.河北科技大学电气工程学院，河北石家庄 050018
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.10.008
  CLC：
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张付祥,郑雨,黄永建等.成捆棒材贴标机器人系统部件空间位置优化[J].机械传动,2022,46(10):49-54.

Zhang Fuxiang,Zheng Yu,Huang Yongjian,et al.Spatial Position Optimization of Components in the Labeling Robot System for Bundled Bars[J].Journal of Mechanical Transmission,2022,46(10):49-54.
张付祥,郑雨,黄永建等.成捆棒材贴标机器人系统部件空间位置优化[J].机械传动,2022,46(10):49-54. DOI： 10.16578/j.issn.1004.2539.2022.10.008.

Zhang Fuxiang,Zheng Yu,Huang Yongjian,et al.Spatial Position Optimization of Components in the Labeling Robot System for Bundled Bars[J].Journal of Mechanical Transmission,2022,46(10):49-54. DOI： 10.16578/j.issn.1004.2539.2022.10.008.

摘要

为了实现钢厂成捆棒材贴标机器人系统各部件摆放的空间位置优化以提高其工作效率，对系统中的工业机器人运动情况进行分析，采用D-H参数法建立机器人运动学模型，应用分离变量法求解机器人逆运动学解析解；以工业机器人和标签打印机的空间坐标为设计变量，以机器人贴标过程关节转角总行程最短作为工业机器人和标签打印机摆放位置的优化目标；采用改进的粒子群优化算法进行优化计算，得到工业机器人和标签打印机摆放的最佳空间位置。提高了贴标机器人系统的工作效率，对该系统的实际应用具有指导性的意义。

Abstract

In order to optimize the spatial position of each component of the steel plant bundled bar labeling robot system and improve its work efficiency, the motion of the industrial robot in the system is analyzed, the robot kinematics model is established by the D-H parameter method, the analytical solution of the inverse kinematics of the robot is solved by the separated variable method, and the spatial coordinates of the industrial robot and the label printer are taken as the design variables. Taking the shortest total stroke of the robot labeling process as the optimization goal of the placement position of the industrial robot and label printer, an improved particle swarm optimization algorithm is used for optimization calculation to obtain the optimal spatial position of the industrial robot and label printer, which improves the work efficiency of the labeling robot system, and has guiding significance for the practical application of the system.

关键词

贴标机器人位置优化运动学分析蒙特卡洛法改进粒子群算法

Keywords

Labeling robotPosition optimizationKinematic analysisMonte Carlo methodImproved particle swarm algorithm

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