Research on collaborative workspace of multi-robot system for rebar tying
ZHANG Chenghao
LI Zhiguang
YUAN Tengfei
HAN Bing
PAN Junzheng
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.
Keywords：rebar tying robotmulti-robot systemcollaborative workspaceflexibilityoperability
Publication Date：2025-03-25
Pages：4( 20-23 )