Machining Path Optimization of 3C Locking Robots Using Adaptive Ant Colony Optimization

Abstract

The motion smoothness of 3C locking robot directly affects the machining performance. Improving the motion smoothness can optimize the motion trajectory and reduce the processing time. In this paper, a novel machining path optimization model including motion smoothness is built by employing the coordinate boundary of velocity and acceleration after evaluating the machining motion smoothness of the 3C locking robot. Secondly, based on the creation of the ant colony of adaptive function algorithm, the optimization model of the 3C locking robot in the situation of fixed bolt hole position and floating bolt hole position is resolved. Lastly, the proposed approach collects and analyses a huge amount of data to enable robots to make on-the-fly decisions in the middle of production, even when faced with unexpected circumstances. In the Spark distributed environment, we use the conventional K clustering technique to improve the final output utilizing clustering means. The results show that the machining path optimization of fixed hole considering the motion smoothness improves the smoothness but extends the machining path; the cooperative machining path optimization of multiregion floating bolt holes can significantly improve the motion smoothness and effectively reduce the length of the path. The research results provide theoretical support and design guidance for designers.

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“…The disassembly path planning task of screws requires the robot end-effector to move from the tool magazine, complete the screw disassembly work in one motion, and return to the tool magazine for tool replacement. The essence of this task is a classic Travelling Salesman Problem (TSP), which is for solving the shortest path to each node and returning to the first node given a sequence of nodes and the distance between any two pairs of nodes [34]. Through Improved Circle (IC) [35], Genetic Algorithm (GA) [36] and Ant Colony Optimization (ACO) [37], the path planning of disassembly planning is conducted.…”