摘要
为合理规划汽车后侧围板点焊机器人工作站焊接路径,以点焊机器人各焊点间运动距离之和最短为目标,建立三维TSP数学模型,并运用蚁群算法求解。针对蚁群算法容易因参数设置不当陷入局部最优解的缺点,提出运用正交试验和回归分析法优化蚁群算法参数,通过正交试验获得最优参数组合,并得到参数主次排序,通过回归分析明确关键参数与最优解之间的关系,经假设检验验证符合二次函数,最终得到最优或近似最优解。结果表明,采用改进的蚁群算法能够得到汽车后侧围板点焊机器人工作站的最优或近似最优路径。
In order to plan the welding path of the spot welding robot work station for the rear side of the car reasonably, a mathem- atical model of three-dimensional TSP is established to find shortest moving distance between the welding spots. The ant colony algorithm is used to solve the problem. Aiming at the shortcomings that the ant colony algorithm is apt to fall into the local optimal solution because of improper setting of parameters, this paper proposes that the parameters of ant colony algorithm are optimized by orthogonal test and regression analysis. The optimal parameters are obtained by orthogonal experiment, through regression analysis,the relationship between the key parameters and the optimal solution is clarified,and the hypothesis test verifies that it meets the quadratic function and finally obtains the optimal or approximate optimal solution. The results show that the improved ant colony algorithm can get the best or approximate optimal path of the welding robot work station.
作者
宫百香
张洪博
GONG Baixiang,ZHANG Hongbo(Electrical and Mechanical College,Changchun University of Technology, Changchun 130012, China)
出处
《电焊机》
2018年第6期45-48,共4页
Electric Welding Machine
关键词
路径规划
点焊机器人工作站
正交试验
回归分析
path planning
spot welding robot station
orlhogonal experiment
regression analysis
