中文摘要：

针对现有工业机器人工作单元内设备布局优化方法的不足,通过研究设备的作业路径点在机器人工作空间中的可行域,运用OBB分离轴测试原理进行设备干涉检测,提出以机器人作业轨迹的作业时间与耗能的适应度函数来进行布局优化,并获得满意的布局方案。该方法不仅将自动化工作单元的布局问题与机器人技术应用相结合,并且为其提供了辅助布局的工具方法。

英文摘要：

To the existing deficiencies of the equipment layout optimization in industrial robot workcell,we investigate the feasible region of equipment operation trajectory point in the robot workspace,apply the disengaging shaft test of OBB to test equipment＇s interference,and bring in the robot＇s operation trajectory of operation time and the energy evaluation function,in order to obtain the optimal layout scheme.This method not only combines the layout problem of the automatic workcell with robot application technology,but also provides an auxiliary tool layout method.