Abstract: Aiming at the problem that the traditional serial designing method could not meet the requirements of robotic station caused by complicating of work stations and interaction between facilities and robotic motion,a collaborative optimization model was constructed,which optimized facility layouts and robotic motion time concurrently.A traditional forward and inverse kinematics of 6R robot was researched and a real-time algorithm was proposed,which could get all real solutions based on decoupling method.The path planning theory with shortest motion time and a particle swarm optimization were applied to solve the model.A practical case was illustrated to prove the efficiency and validity of the proposed method.

Key words: complicated station, 6R robot, inverse kinematics, facility layout, collaborative optimization

摘要： 针对机器人工位设备和动作复杂化以及设备布局和机器人运动轨迹相互影响所引起的传统串行设计流程难以满足工位精准化设计要求的问题,分析了6R机器人的正逆运动学理论,构建了工位布局与机器人运动时间的协同优化模型,基于6R机器人位置反解解耦法提出所有实数反解求解的实时算法,并采用运动时间最短的轨迹规划理论及粒子群优化算法完成模型求解。通过案例论证了所提模型及方法的可行性,结果表明该方案可较大程度地优化复杂工位的设计。

关键词: 复杂工位, 6R机器人, 逆运动学, 工位布局, 协同优化