Workspace Analysis and Layout Optimization of Multi-station Working Island type Polishing Robot

doi:10.13190/j.jbupt.2017-221

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2018, Vol. 41 ›› Issue (3): 92-100.doi: 10.13190/j.jbupt.2017-221

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Workspace Analysis and Layout Optimization of Multi-station Working Island type Polishing Robot

LI Dong-jing^1,2, HAO Da-xian², WANG Qi-long², YUN Chao²

1. School of Information and Electrical Engineering Hubei University of Science and Technology, Hubei Xianning 437100, China;
2. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China

Received:2017-11-16 Online:2018-06-28 Published:2018-06-04

Abstract

Abstract: In order to improve the efficiency of the workpiece such as faucet polishing and improve the polishing precision, quality, a new multi station working island type polishing robot was designed. In order to make this robot structure more compact, based on the establishment of the polishing robot's kinematics and inverse kinematics equations, further analysis of robot flexible working space was carried out, multi-objective particle swarm optimization method was also proposed to analyze and optimize the multiple layout parameters of this robot., then the various degree of freedom joint space was obtained by particle swarm optimization method while robot polishing deferent size workpiece. Finally, the dexterous machining points of the polishing robot is analyzed, which is verified that the optimized layout parameters is suitable. Through the above analysis. It is shown that the robot with optimized layout parameters can fully meet the specified workpiece polishing requirements, and there is a large machining allowance, better experimental polishing effect was obtained finally.

Key words: multi-station working island type polishing robot, workspace analysis, layout optimization, multi-objective particle swarm optimization

CLC Number:

TP242.3

LI Dong-jing, HAO Da-xian, WANG Qi-long, YUN Chao. Workspace Analysis and Layout Optimization of Multi-station Working Island type Polishing Robot[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2018, 41(3): 92-100.

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Workspace Analysis and Layout Optimization of Multi-station Working Island type Polishing Robot

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