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首页> 外文期刊>International Journal of Computer Integrated Manufacturing >Robot workspace estimation and base placement optimisation techniques for the conversion of conventional work cells into autonomous flexible manufacturing systems
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Robot workspace estimation and base placement optimisation techniques for the conversion of conventional work cells into autonomous flexible manufacturing systems

机译：用于将常规工作单元转换为自主柔性制造系统的机器人工作区估计和基础位置优化技术

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摘要

Robot arms are used in modern work cells and flexible manufacturing systems (FMS) in handling work pieces and loading/unloading processes. The robot arm links may interfere with the bodies of the system components, which are considered as obstacles in the robot workspace. In order that the robot works in safe conditions, study of robot workspace in a free space and in the presence of obstacles should be investigated. The inverse problem of having an existing working space occupied with a number of CNC machines to which it is supposed to introduce a robot to serve is an interesting problem. This is a very common problem when trying to convert conventional work cells into autonomous systems. There are two main questions when studying this kind of problem: what type of robots is suitable to satisfy the existing working space? And where to place the base of this robot to efficiently serve the existing machines? The main objective of this article is trying to answer these two questions. A computational algorithm is developed to estimate the robot workspace. The optimisation of robot base placement is achieved using genetic algorithms. A comparative study of the suitability of different robots for a specified working area is also included. Finally, robot movement visualisation within a pre-defined FMS using solid edge modelling is presented to verify the proposed algorithm and simulate the robot path within the work cell.
机译：机械臂用于现代工作单元和柔性制造系统（FMS）中，用于处理工件和装卸过程。机器人手臂链接可能会干扰系统组件的主体，这被视为机器人工作空间中的障碍。为了使机器人在安全的条件下工作，应该研究在自由空间和有障碍物的情况下对机器人工作空间的研究。相反的问题是，现有的工作空间被许多CNC机械所占据，而该数控机床应该引入机器人来服务，这是一个有趣的问题。当试图将常规工作单元转换为自治系统时，这是一个非常普遍的问题。研究此类问题时，主要有两个问题：哪种类型的机器人适合满足现有工作空间？在哪里放置该机器人的底座以有效地为现有机器服务？本文的主要目的是试图回答这两个问题。开发了一种计算算法来估计机器人工作空间。使用遗传算法可以实现机器人基座的优化。还包括对不同机器人在指定工作区域的适用性的比较研究。最后，提出了使用固边建模在预定义FMS内的机器人运动可视化，以验证所提出的算法并模拟工作单元内的机器人路径。

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