基于低维度平衡态采样的线缆装配路径规划
发布时间：2018-08-15 14:00
【摘要】：针对复杂产品中柔性线缆装配路径自动求解困难的问题,提出一种基于低维度平衡态采样的线缆装配路径自动求解方法。该方法首先建立了基于Cosserat弹性杆理论的线缆物理属性模型,通过引入"引导路径"对线缆类可变形体运动规划的高维度问题进行降维,在沿"引导路径"的低维度空间中,以线缆两端约束参数进行随机采样并构建路径图,并通过路径图中满足限定条件构型的搜索获得可行的线缆装配路径。最后,设计并开发了线缆装配路径自动求解原型系统,通过算例测试和实例验证了所提方法的可行性及效果。
[Abstract]:In order to solve the problem of flexible cable assembly path automatically in complex products, an automatic solution method of cable assembly path based on low-dimensional balanced sampling is proposed. Firstly, the physical attribute model of cable based on Cosserat elastic rod theory is established. By introducing "guide path" to reduce the dimension of high-dimensional motion planning of cable type variable body, it is in the low-dimensional space along "guiding path". The path diagram is constructed by random sampling with the constrained parameters at both ends of the cable, and the feasible cable assembly path is obtained by searching the configuration of the cable that meets the limited conditions in the path diagram. Finally, a prototype system for the automatic solution of cable assembly path is designed and developed. The feasibility and effect of the proposed method are verified by an example and an example.
【作者单位】： 北京理工大学机械与车辆学院;
【基金】：国防基础科研资助项目(JCKY2016204A502,JCKY2016203B106)~~
【分类号】：TG95
本文编号：2184423
[Abstract]:In order to solve the problem of flexible cable assembly path automatically in complex products, an automatic solution method of cable assembly path based on low-dimensional balanced sampling is proposed. Firstly, the physical attribute model of cable based on Cosserat elastic rod theory is established. By introducing "guide path" to reduce the dimension of high-dimensional motion planning of cable type variable body, it is in the low-dimensional space along "guiding path". The path diagram is constructed by random sampling with the constrained parameters at both ends of the cable, and the feasible cable assembly path is obtained by searching the configuration of the cable that meets the limited conditions in the path diagram. Finally, a prototype system for the automatic solution of cable assembly path is designed and developed. The feasibility and effect of the proposed method are verified by an example and an example.
【作者单位】： 北京理工大学机械与车辆学院;
【基金】：国防基础科研资助项目(JCKY2016204A502,JCKY2016203B106)~~
【分类号】：TG95
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1 张璐璐;阀门产品数字化装配路径规划系统研究与开发[D];河北科技大学;2016年
，本文编号：2184423
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