Robot System Integration And Collision Avoidance For Hard Disk Magnetic Head Assembly Production Line

The market competition is increasing in the hard disk manufacturing industry.And the labor cost is gradually increasing year by year.At the same time,there is a serious shortage of labor in the manufacturing industry.Every hard disk manufacturing enterprise is using the automation continuously to reduce the number of production line operators and improve production efficiency.In order to improve the competitiveness in the industry,company must reduce cost and develop smart factory.Current auto production line should be updated.Industrial robot system integration is used to replace traditional production line.This thesis takes the mobile six-axis industrial robot as the research object.The three dimensional assembly model is designed with Pro/E software.Then the kinematics model and equation are established by the way of forward kinematics and inverse kinematics.It is simulated and verified with software.According to the collision problem in the special environment of the hard disk magnetic head assembly line,the robot accurate positioning and collision avoidance algorithm is studied.The advantages and disadvantages of the traditional artificial potential field collision avoidance method are summarized.And the improved artificial potential field method based on the velocity drive is studied and simulated.Then the local minimum problem of the traditional potential field is solved with the circular velocity method.It also improves the motion efficiency of collision avoidance.At the same time,the algorithm is verified by the software of V-REP.Based on the requirement analysis about automatic production line,the overall scheme is designed,including the selection of robot,guide rail,control card,servo motor and driver etc.The system hardware and software are designed with algorithm of collision avoidance.The yield and utilization of production line is improved efficiently.The control system can be put into trial run and normal production.And the quantity of production operators is reduced half.It proves the correctness of robot integration design in production line.At the same time,it also proves the feasibility of the new robot collision avoidance algorithm.