摘要
以实际工程为研究背景,通过几何建模,建立车身侧围工位多机器人关节简化模型,通过构造机器人空间距离矩阵,提出一种多机器人干涉算法,成功解决多机器人在车身侧围工位生产线上的干涉问题,最后用ROBCAD软件建立KUKA机器人仿真模型,验证了该算法的可行性。
In this paper,by taking the practical engineering as background,joint simplified model of multi-robots at car body side was established through geometric modeling.Then,a multi robots interference algorithm was proposed by building spatial distance matrix of the robot,the interference problems among multiple robots in production line of car body side are solved successfully.The KUKA robot simulation is finally established by applying ROBCAD,and the feasibility of the algorithm has been verified.
出处
《机械设计》
CSCD
北大核心
2011年第6期33-36,共4页
Journal of Machine Design
基金
国家高技术研究发展计划(863计划)资助项目(2008AA04Z105)
关键词
车身侧围
机器人
生产线
干涉
仿真
car body side
robot
production line
interference
simulation