面向机器人自动化作业的产品装配规划技术研究

发布时间：2018-04-08 23:12

本文选题：机器人装配　切入点：装配序列规划　出处：《哈尔滨工业大学》2017年硕士论文

【摘要】：产品装配是生产过程中耗时较多的一个环节,应用机器人对产品进行自动化装配,相比传统的手工装配极大的提高了产品装配环节的效率。在对产品进行装配规划时,面向机器人自动化作业的装配规划与传统的虚拟装配规划不同之处在于,需要考虑设备资源对规划过程以及结果的影响。本文在分析了国内外相关装配规划技术的基础上,针对机器人自动化装配作业的需求,对产品的装配规划技术进行了研究。研究内容如下:针对产品装配规划过程中的装配信息建模、装配序列规划和装配路径规划这3个关键技术的实现流程进行了分析,建立了面向机器人作业的产品装配规划总体框架。在分析了装配规划过程对产品数据信息需求的基础上,建立了面向装配的产品层次模型,以及基于NURBS统一化表达的零件几何信息模型;并结合干涉关系矩阵,建立了包含设备资源信息的层次化装配关系模型,实现了对零件及其装配资源动态约束关系的表达,降低了装配规划的复杂程度。针对装配序列规划过程中的多约束寻优问题,提出了装配序列几何可行性的判断方法,同时定义了评价装配序列的适应度函数。并在此基础上,提出了考虑设备资源情况下,基于离散粒子群算法的最优装配序列求解方法,实现了对产品内各零件装配顺序的规划。通过对产品分别在考虑设资源情况下和不考虑设备资源情况下所得的装配序列规划结果进行对比分析,验证了装配规划过程中考虑设备资源的重要性。针对依据装配序列规划结果只能分析得到零件单一方向的直线装配路径,无法对折线装配路径进行求解的问题,研究了基于RRT的装配路径规划算法和基于SVD的位姿变换求解算法。利用NURBS控制点对零件进行定位,结合基于层次化包围盒的干涉检测算法,实现了零件无碰撞的装配路径求解。针对机器人自动化作业的环境,对所得路径进行优化,减少了零件的移动距离及移动过程中的方向变换,提高了产品的装配效率。设计了装配规划系统,实现了产品的装配信息建模、装配序列规划以及装配路径规划的功能。将所得到的装配规划结果导入DELMIA中,通过对产品的装配过程进行三维可视化仿真,验证了装配规划结果的可行性。
[Abstract]:Product assembly is one of the most time-consuming parts in the process of production. Compared with the traditional manual assembly, the robot is used to automate the assembly of the product, which greatly improves the efficiency of the product assembly.In the process of product assembly planning, the difference between the assembly planning for robot automation and the traditional virtual assembly planning is that the influence of equipment resources on the planning process and results should be considered.Based on the analysis of the related assembly planning technology at home and abroad, this paper studies the assembly planning technology of the product according to the requirement of the robot automatic assembly operation.The research contents are as follows: the implementation flow of three key technologies, namely assembly information modeling, assembly sequence planning and assembly path planning, is analyzed.An overall framework of product assembly planning for robot operation is established.On the basis of analyzing the requirement of product data information in assembly planning process, an assembly oriented product hierarchy model and a part geometry information model based on NURBS unified representation are established, and the interference matrix is combined.A hierarchical assembly relationship model containing equipment resource information is established to express the dynamic constraint relationship of parts and their assembly resources and to reduce the complexity of assembly planning.In order to solve the problem of multi-constraint optimization in assembly sequence planning, a method for judging the geometric feasibility of assembly sequence is proposed, and the fitness function for evaluating assembly sequence is defined.On this basis, an optimal assembly sequence solving method based on discrete particle swarm optimization (DPSO) is proposed, which can realize the assembly sequence planning of each part in the product.The importance of considering equipment resources in assembly planning process is verified by comparing and analyzing the assembly sequence planning results of products with and without equipment resources.According to the result of assembly sequence planning, the straight assembly path in single direction can only be obtained, and the assembly path of broken line can not be solved.The assembly path planning algorithm based on RRT and the position and pose transformation algorithm based on SVD are studied.NURBS control points are used to locate the parts and the interference detection algorithm based on hierarchical bounding box is used to solve the collision-free assembly path of the parts.According to the environment of robot automation, the path is optimized to reduce the moving distance and the direction change in the moving process, and improve the assembly efficiency of the product.The assembly planning system is designed, and the functions of assembly information modeling, assembly sequence planning and assembly path planning are realized.The result of assembly planning is introduced into DELMIA, and the feasibility of assembly planning is verified by 3D visual simulation of assembly process.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TG95;TP242

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