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    [1]宦智杰,徐敏,江聲寶,等.多機器人裝配生產線的構建與仿真[J].廈門理工學院學報,2020,(3):20-26.[doi:doi:1019697/jcnki16734432202003004]
     HUAN Zhijie,XU Min,JIANG Shengbao,et al.Construction and Simulation of Multirobot Assembly Line[J].Journal of JOURNAL OF XIAMEN,2020,(3):20-26.[doi:doi:1019697/jcnki16734432202003004]
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    多機器人裝配生產線的構建與仿真(PDF)
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    《廈門理工學院學報》[ISSN:1673-4432/CN:35-1289/Z]

    卷:
    期數:
    2020年第3期
    頁碼:
    20-26
    欄目:
    電氣工程與自動化
    出版日期:
    2020-06-30

    文章信息/Info

    Title:
    Construction and Simulation of Multirobot Assembly Line
    文章編號:
    16734432(2020)03002007
    作者:
    宦智杰徐敏江聲寶馬瑋城謝秋鋒
    (廈門理工學院電氣工程與自動化學院,福建 廈門 361024)
    Author(s):
    HUAN Zhijie XU Min JIANG Shengbao MA Weicheng XIE Qiufeng
    (School of Electrical Engineering & Automation,Xiamen University of Technology,Xiamen 361024,China)
    關鍵詞:
    多機器人裝配生產線虛擬仿真系統運行軌跡離線編程RobotStudioSmart組件
    Keywords:
    multirobot assembly manufacturing line virtual simulation system motion curves offline programming RobotStudio Smart components
    分類號:
    TP2422;TP39173
    DOI:
    doi:1019697/jcnki16734432202003004
    文獻標志碼:
    A
    摘要:
    以多機器人裝配生產線為研究對象,構建由3臺ABB工業機器人與傳送帶組成的虛擬裝配生產線。依據工件的裝配工序,通過導入內置工業機器人模型以及(離線)編程,創建多機器人系統仿真I/O信號和動態組件,實現生產線系統的離線編程與仿真模擬。通過虛擬系統的仿真,調試并優化裝配過程中機器人的部分作業軌跡和運行姿態。研究表明,所構建的多機器人裝配生產線滿足實際工作需求,能夠在虛擬環境下對生產線的運行軌跡進行預規劃;該虛擬仿真系統可以為多機器人生產線的設計與制造提供技術參考與可行性依據。
    Abstract:
    Taking multirobot assembly line as the object ,a simulation assembly line consisting of three robot arms from ABB and a conveyor was presented. I/O signals and dynamic components of the simulation multirobot system was created bassed on ledin robot modelling and offline programming by the assembly process that was able to implement the offline programming and simulation of the manufacturing line system.Finally,some motion curves and postures of the robots in the assembly proces were optimized in virtual simulation. The simulation results show that the proposed scheme satisfies the need for the actual manufacturing process and for preliminary plan of the moving trajectory of robots in virtual simulations,The proposed virtual simulation system can provide technical references and feasibility proofs for designing and manufacturing the multirobot assembly line for the real world.

    參考文獻/References:

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    備注/Memo

    備注/Memo:
    收稿日期:20191230修回日期:20200520 基金項目:國家自然科學基金項目(61903315);福建省自然科學基金項目(2019J01869,2019J05124);廈門市留學人員科研項目(廈人社〔2018〕310號,廈人社〔2019〕232號);福建省中青年教師教育科研項目(JT180426,JT180425);廈門理工學院高層次人才項目(YKJ17013R,YKJ17012R);廈門理工學院“科研攀登計劃”科研項目(XPDKQ18017,XPDKQ18018) 通信作者:宦智杰,男,講師,博士,研究方向為機器人控制、機械與生物醫學工程、微納操作技術等,Email:hzjxb@xmuteducn。 引文格式:宦智杰,徐敏,江聲寶,等.多機器人裝配生產線的構建與仿真[J]廈門理工學院學報,2020,28(3):2026 Citation:HUAN Z J, XU M, JIANG S B, et al.Construction and simulation of multirobot assembly line[J]Journal of Xiamen University of Technology,2020,28(3):2026(in Chinese)
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