robot assembly design and planning oriented integrated frame 面向機器人裝配設計與規(guī)劃的集成框架
in this paper, i give a concise method on the modeling of the robot assembly cell, put forword a practical method on the reliability calculation of the system, deduced a dynamic equation of the scara robot and have made an analysis on it, finished the gear-reduction-servo-motor integrated transmission design and applied it on the robot joint, made a detail description on this device at the same time 在本文中我提出了一種簡單易行的機器人裝配單元建模方法;詳細給出了單元可靠性分配計算的兩種方法;推導該scara機器人動力學顯方程,并運用它對系統(tǒng)進行相應的分析;設計出一種伺服電機??齒輪減速器一體化關節(jié)傳動裝置,同時給出相關的技術描述。
in the second place, through the analysis of robot's intelligent problem, a new strategy for robot assembly planning, a method that is a combination of layer-wise planning and multi-agent technology is brought forward, by which the traditional consecutive planning problem is changed into the concurrent planning problem . this strategy greatly decreases the complexity of the planning problem and accordingly enhances the working efficiency of the whole system 其次,通過對機器人智能化問題的分析,提出了對機器人裝配規(guī)劃的一種新的解決策略,即將分層規(guī)劃與mas技術相結合,將傳統(tǒng)的串行規(guī)劃問題轉變?yōu)榉植际讲⑿幸?guī)劃問題,極大地降低了問題的復雜度從而提高了系統(tǒng)的工作效率。