双机械手变速协同输送控制策略研究及应用

基于智能先进、高效稳定的制造理念，针对双机械手接续输送物料同步交接的问题，提出了一种在有限交接区间限制条件下的高效双机械手协同工作的快速输送方法。通过运动学分析，设计构建了双机械手协同输送实验平台，研究了多种可行方案中影响快速同步的主要因素，给出了多种协同输送工作方法的实现过程。考虑到速度与稳定性的综合指标，以及最小同步交接距离的需要，采用两级变速控制同步方法，板料输送节拍缩短超过11%。

Research and Application of Variable Speed Cooperative Transfer Control Strategy of Dual Manipulators

Based on the intelligent and advanced, efficient and stable manufacturing concepts, aiming at the problems of synchronous sheet transfer of multiple robots, a fast transfer and delivery method of efficient cooperative work of dual manipulators under a limited distance was proposed. Through the kinematic analysis, an experimental platform of cooperative transfer for dual manipulators was designed and built. The main factors that affected the fast synchronization in several feasible solutions were studied, and the realization of several methods for cooperative transfer was given. Considering speed and stability comprehensively, the needs of minimum cooperation distance, using a two-stage variable speed control synchronization method, the sheet transfer cycle was shortened by more than 11%.