The Design Of Teaching Platform And Software Of Flexible Assembly Line Based On Industrial Robot

Domestic manufacturing develops towards informationization and intellectualization with the fast development of economy.Faced with this trend,the government proposes the strategy of Made in China 2025,for powful nation,which is aimed at improving the level of manufacturing.As a key project of Made in China 2025,intelligent manufacture couldn't be achieved without technicians who have relevant specialized knowledge,to develop technology and design system.In this context,talent training in universities should follow the trend of the development of manufacturing.In this case,developing a teaching equipment which reflects the ideas of intelligent manufacture and is aimed at university teaching.The flexible production line,which applies much intelligent manufacture technology and is widely used in manufacturing enterprises because of its efficiency,flexibility and expansibility,plays an important role in intelligent manufacture.The teaching platform of flexible assembly line based on industrial flexible production line,which consist of parts stored module,materials transported module and assembling module,is designed to assemble the gear pump and has the function of storage,transportation and assembly.Mechanism-electron control technology,Pneumatic transmission and control technology,sensor technology,Fieldbus technology and communication technology are centralized in the platform.It's easy to assemble the platform based on function because of the modular design of structure.Unity3D is used to develop the teaching software which has the same size 3D models in platform.Writing the motion program for models with C#.Users could control the movement of all the modules,debug industrial robot and plan cycle time in virtual environment.Function of trajectory planning and trajectory optimization is developed for industrial robot in software.Transport trajectory of robot in joint space is planned by using nonuniform quintic B-spline,so that joints' moving trajectory could be smooth and stable.Optimizing the trajectory with immune genetic algorithm(IGA)could reduce the motion time robot will take.And then an evaluation function based on energy consumption is proposed to find another time which is close to the least time in IGA with the minimum evaluation.