智能城市2025，Vol.11Issue(3)：20-23,4.DOI:10.19301/j.cnki.zncs.2025.03.006
钢筋捆扎多机器人系统协作空间研究
Research on collaborative workspace of multi-robot system for rebar tying
张程浩 1李志光 2苑腾飞 2韩冰 2潘俊铮2
作者信息
- 1. 北京建工新型建材科技股份有限公司,北京 102611
- 2. 北京建工新型建材有限责任公司,天津 300134
- 折叠
摘要
Abstract
To address the inefficiency of manual rebar tying in prefabricated concrete(PC)components and enhance the utilization of collaborative workspace in multi-robot systems,this study investigates the working performance of a dual six-degree-of-freedom collaborative robot system based on a truss structure(research background).By establishing a D-H kinematic model and combining it with Monte Carlo methods and Matlab simulation analysis,the flexibility and operability of the robot workspace are evaluated,and a mathematical evaluation model is developed.The results show that within a working range of 600～1 000 mm,the dual-robot collaborative system achieves the highest work efficiency at the minimum working distance,with a small proportion of singular regions and high operability in most working areas.This validates the effectiveness of the proposed method in improving collaborative workspace utilization and work efficiency.关键词
钢筋捆扎机器人/多机器人系统/协作空间/灵活性/可操作性Key words
rebar tying robot/multi-robot system/collaborative workspace/flexibility/operability分类
信息技术与安全科学引用本文复制引用
张程浩,李志光,苑腾飞,韩冰,潘俊铮..钢筋捆扎多机器人系统协作空间研究[J].智能城市,2025,11(3):20-23,4.
