Research On Multi-robot Collaborative Assembly For Server Manufacturing

With the development of robotics,the manufacturing industry has ushered in a new round of technological revolution.At present,robots are transitioning from a single-task and low-complexity scene which is represented by the traditional automobile manufacturing industry with the main tasks of parts handling,painting,welding and so on,to the multitask and high-complexity scene which is represented by the 3C manufacturing with smallbatch,multi-category,short-cycle production requirements.This is a new challenge for robotics.According to the above,this thesis studies the multi-robot assembly technology with the server motherboard as the assembly object.Aiming at the problem of coordinated motion in the multi-robot server assembly,this thesis starts with the traditional single-robot kinematics modeling by the DH method.Then deducing the relationship between the prerequisite realization conditions and the motion constraints of the multi-robot cooperative motion with the master-slave relationship.Aiming at the positioning problem in the multi-robot server assembly,this thesis designs the global positioning control based on the motion capture system and the imagebased visual servo control method in order to form a cross-scale positioning scheme to meet subtasks the different need for positioning range and accuracy.Aiming at the force interaction problem in the multi-robot server assembly,combined with six-dimensional force sensor,this thesis designs an adaptive impedance force insertion control method,which enables the robot to track the target expected force according to the feedback force,so as to meet the requirements of compliant assembly.For the defects of the classical control,this thesis introduces a self-recurrent wavelet neural network,combines the adaptive dynamic surface control to design a torque controller.And under the premise of satisfying system stability,the parameters update requirement in the neural network is derived from Lyapunov function.Finally,based on the self-developed multi-robot collaborative assembly experiment platform,the experiment was carried out with the memory stick assembly task in the server assembly process.The experimental results showed that the designed scheme and the proposed method were correct and feasible.What’s more,it provides a reference solution for the future multi-robot collaboration using in the 3C assembly manufacturing and accelerates the application of robots in related fields to realize intelligent manufacturing in the true sense.