robot assembly design and planning oriented integrated frame 面向机器人装配设计与规划的集成框架
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种简单易行的机器人装配单元建模方法;详细给出了单元可靠性分配计算的两种方法;推导该scara机器人动力学显方程,并运用它对系统进行相应的分析;设计出一种伺服电机??齿轮减速器一体化关节传动装置,同时给出相关的技术描述。
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,通过对机器人智能化问题的分析,提出了对机器人装配规划的一种新的解决策略,即将分层规划与mas技术相结合,将传统的串行规划问题转变为分布式并行规划问题,极大地降低了问题的复杂度从而提高了系统的工作效率。