Abstract: To address the problems of long operation time and low efficiency due to the need to wait in place for dual-arm co-axial truss robot to avoid self-collision between arms in the sheet metal part sorting process,a sorting sequence planning method considering self-collision was proposed.The two arms were marked master and slave arms respectively.For the master arm,the Lin-Kernighan-Helsgaun (LKH) algorithm was used;for the slave arm,the genetic algorithm combined with the LKH algorithm was used.Self-collision between the two arms was considered in the planning of the slave arm to reduce the waiting time and improve the operation efficiency of the sorting process.In the numerical simulation validation,the proposed method was compared with mere LKH algorithm for both arms.The simulation results showed that the proposed method could reduce the operation time by more than 4% compared with the method without considering self-collision.The method could also be extended to multi-arm co-axial truss robot.

Key words: sheet metal part, sorting sequence planning, Lin-Kernighan-Helsgaun algorithm, genetic algorithms

摘要： 针对双臂共轴桁架机器人在执行钣金件分拣任务需要避免机械臂自碰撞而原地等待导致的任务运行时间长、效率低等问题,提出一种考虑自避障等待时间的分拣顺序规划方案。该方案将两个机械臂分为主臂和从臂,主臂的顺序规划采用LKH(Lin-Kernighan-Helsgaun)算法,从臂的顺序规划将LKH算法与遗传算法结合,在规划时考虑两个机械臂的碰撞,以减少机械臂的等待时间,提高运行效率。在仿真验证中,该方案与双臂均以最短路径为目标,采用LKH算法进行顺序规划方案对比。仿真结果表明,所提方法较不考虑自碰撞的方法均可缩减4%以上时间,该方法可拓展应用于多臂共轴桁架机器人协同场景。

关键词: 钣金件, 分拣顺序规划, Lin-Kernighan-Helsgaun算法, 遗传算法