Research And Application Of Path Planning Of Industrial Robot

With the continuous improvement of the automation in enterprise,the automatic production line based on industrial robot equipment gradually occupies an important position in the field of production and manufacturing.In the automatic production line,the takt time of each station has strict requirements,If the takt time exceeds the specified time,the production efficiency of the whole production line will be affected,and the welding time occupies a large proportion in each station takt time.Therefore,reasonable welding path planning has become one of the important research objects in the automatic production line.At present,path planning mainly depends on the working experience of simulation personnel and continuous path debugging,which leads to low work efficiency due to heavy repetitive workload.How to scientifically and effectively plan robot welding path has become an urgent problem to be solved.This paper took the floor welding assembly production line of a project as the research object,and described the design tasks of the whole project,including process planning,layout establishment,fixture design,robot path planning and simulation.This paper summarized the automatic production line,and took a certain type of floor welding assembly production line as an example,determined the transportation system of the production line,designed the fixture and other auxiliary equipment of the production line,and briefly described the definition and importance of the takt time through the welding process planning.Through the D-H parameter method to establish the robot link coordinate system model,the forward and inverse kinematics of the robot was analyzed.Based on the above research,the process planning content such as the production line beat and layout was designed,and the station with the longest production time was selected for optimization.The path planning problem was regarded as the classic traveling salesman problem in mathematics,and the mathematical model was constructed.The ant colony algorithm based on elite strategy was used to solve the path problem,and the optimized welding path was obtained through MATLAB software operation.Through robcad software to simulate the path,a complete spot welding model was established in the virtual environment,and the welding time of the three paths was compared.The first was the path planning carried out by the simulation staff after the completion of the project design,the second was the path debugging by the field teaching staff,and the third was the path solved that by the optimization algorithm,which verified the feasibility of the algorithm for path planning and solved the problem of repeated debugging path of simulation and teaching work can improve the efficiency of simulation work,that had a certain guiding significance for the simulation work of industrial robot in automatic production line.