Multi-robotic arms automated production line

摘要

In response to the booming industrial automation, three commonly used industrial robots including one parallel type robot, one gantry type robot, and two six-axis serial robots will be self-developed in this study. The six-axis robot arm can be controlled by using Kinematics method. Furthermore, a fifth-order-polynomials method is used to limit accelerations and velocity on each joint to achieve continuity. Arc path of the robotic arm can be achieved by the three-points-arc interpolation. Therefore, trajectories for gluing path planning will be successfully generated. Moreover, vision devices are used to inspect the work pieces after the laser engraving. In addition, the storage system provides storage of unassembled and finished workpieces. Finally, the system integration of all equipment will be completed to achieve a customized multifunction gluing and assembly line by self-developed robotic arms.