Abstract
Abstract In the process of rebar tying operations conducted by multiple robots, the flexibility and operability of the robot’s end effector directly influence the overall performance of the rebar tying system. This reflects the crucial role of the coordinated working capability of multiple robots in the trajectory planning of the rebar tying system. Utilizing an eight degrees of freedom rebar tying system composed of two collaborative robots and a truss structure, the D-H (Denavit-Hartenberg) dynamic model for each robotic arm is established. The working area of the system is ascertained via Monte Carlo methods. Flexibility and operability are adopted as metrics to evaluate the system’s performance, subsequently leading to the formulation of a mathematical model for assessing the system’s flexibility. MATLAB is employed to delineate the robotic working range and simulate analysis of flexibility and operability when operating on the rebar tying plane, yielding an intuitive distribution of system flexibility. By analysing the distribution of flexibility and operability across the working plane at varying robot spacing intervals, an optimal robot movement distance can be determined. This ensures that during operational tasks, the rebar tying system not only possesses a larger total working area but also maintains a high level of flexibility and operability within the collaborative region, thereby fulfilling the objective of enhancing workspace utilization and improving rebar tying efficiency.
Published Version
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