Against the background of the country's "Made in China 2025","machine replacement" and "personalized production," the concept of Industry 4.0 is influencing and changing the domestic industrial community. In the future, smart factories will place more emphasis on flexibility, and material transfer automation is one of the key factors in achieving flexible industrial production. Traditional material automation uses AGVs, robotic arms and assembly lines, which is only suitable for mass production. The difficulty and cost of line change are high, so that the replacement of upstream products leads to the closure of downstream manufacturers from time to time. The intelligent compound robot studied in this project combines a robotic arm system and a mobile robot platform to greatly expand the operating scope of the robotic arm. The flexible control programming system can respond quickly and accurately to changes in the process flow.
Before the implementation of this project, the core technology of mobile grabbing robots was monopolized by foreign countries, and key technologies were blocked, which was not conducive to the advancement of industrial automation in my country. The main technical problems in realizing independent design and development of composite robots include: 1) Localization of core components, including omnidirectional mobile platforms and robotic arm systems. 2) Independent development of offline programming and simulation software. 3) Implementation of key algorithms, such as robot navigation algorithms. This project team has rich theoretical accumulation in these fields. The partner unit Shenyang Xinsong Robot Automation Co., Ltd. has sufficient experience in the commercialization of industrial robots. The cooperation between the two parties focuses on three main issues and has achieved the following innovative results:

1. Developed key components of a composite robot. Including a new type of omni-directional wheel, which allows the mobile robot to translate and rotate quickly and flexibly, reducing vibration during movement. Technical support: ZL200610024277.3. A new robot braking system is based on dynamic principles to overcome the uncontrollable situation caused by inertia during robot braking and reduce impact damage to the equipment itself and the workpiece. Technical support: ZL2012 1 0002105.1. An automatic braking system based on infrared sensors is proposed to provide protection for personal safety. Technical support: ZL2011 1 0094385.9.
2. Developed a handling robot programming and simulation software system, which integrates environment simulation and task planning functions based on modular technology to achieve the unity of virtual and reality. It can automatically plan for different environments and task objects, improve handling efficiency, and greatly simplify programming. Complexity meets the requirements of industrial applications. Technical support: ZL201110058259.8, ZL200510028885.7, ZL2009 SR036062.
3. A core algorithm solution is proposed. Aiming at the navigation problem of shape-changeable robots, a robot autonomous navigation method based on deformable topological maps is proposed to solve the autonomous path planning and navigation of composite robots in dynamic environments. Technical support: ZL101619985B.
   This project has obtained 9 authorized invention patents and published 15 SCI/EI papers. The composite robot system and several other key technologies have been initially industrialized through Shenyang Xinsong Robot Automation Co., Ltd., forming a series of products. So far, more than 1000 sets of various types of robots have been sold, creating economic benefits of 150 million yuan.
   This project effectively promotes the transformation of technological innovation results through the combination of "industry, learning and research", narrows the gap with foreign compound robot technology through the localization of core technologies, and cultivates higher-level technical and management talents for robot companies, thereby improving the company's technological innovation capabilities and competitiveness. At the same time, it has cultivated 2 doctoral students and 5 master's students with stronger practical abilities for colleges and universities.