工业机器人工件装夹优化算法研究

摘要

为解决工业机器人加工过程中出现的机器人末端不可达和奇异位形问题,结合现有避免奇异位形的方法,提出了一种优化工件装夹位姿算法.通过工业机器人的加工轨迹得到加工轨迹包围盒,并移动加工轨迹包围盒至工业机器人工作空间内中心位置,然后对加工轨迹包围盒的姿态进行搜索,找到合适的加工轨迹包围盒位置和姿态,进而找到合适的工件装夹位姿.该方法能够有效地定位工件装夹位置,并在该工件装夹位置的邻域内找到最优的工件装夹姿态.试验仿真结果表明,该算法具有良好的可行性和鲁棒性,能够提高工业机器人的加工效率和精度.%In industrial robot machining process,to solve the problems of the unreachable extremity and singular shape of the robot, analgorithm to optimize the clamping posture of workpieceand is proposedby combining the existing methods for avoiding singularity. A processing trajectory bounding boxis formed through the robot processing trajectory. The position of bounding box is moved to the center position of the workspace of industrial robot,then the posture of bounding box is searched to find the proper position and posture of bounding box,thus the suitable clamping position and posture of workpiece can be found. The method can effectively locate the proper clamping position of workpiece,and find the optimal posture of the workpiece in the neighborhood area of the workpiece clamping position.The resultsof experimental simulation show that the algorithm is feasible and robust,and can improve the processing efficiency and accuracy of industrial robot machining process.