Trajectory Planning of Collaborative Robot for 3C Products Assembly

摘要

The assembly problem of 3C (Computer / Communication / Consumer Electronic) production has always been a hot issue. It is very challenging to 3C products assembly process due to part manipulability problems, part assembly constraints related issues, and part positioning problems etc. This paper proposes a collaborative robot system for 3C products assembly consisting of two parallel robots. They have the advantages of high precision, high speed and flexibility, making them ideal for 3C products assembly. In order to manipulate the two parallel robots to complete a mobile phone screen assembly task, a technical solution of the dual-robot system collaborative assembly trajectory planning is proposed. Dividing the mobile phone screen assembly action into two stages, and dual-robot system trajectories with different constraints in two stages is analyzed. According to the efficient and smooth requirements of the assembly task, we present a multi-objective optimization scheme of the dual-robot system trajectories by combining the two stages of assembly trajectory. Finally, the trajectory planning algorithms are verified by V-REP (virtual robot experimentation platform) simulation environment and experiment.