摘要
因为复杂产品的内部空间紧凑,为其规划可行的装配路径困难,所以提出一种基于快速搜索随机树的改进方法,以提高狭窄空间内复杂产品装配路径规划的成功率与效率。该方法以待扩展树节点为中心离散化局部空间,并为路径树的扩展提供多种备选位姿,再根据装配运动的难易程度,提出两种运动策略及对应的评价指标,引导局部路径的扩展。仿真结果表明,此方法在装配路径搜索成功率和效率方面均有提高。
It is difficult to generate a feasible assembly path for complex product,as its inner space is compact.An improved method based on rapid-exploring random tree is proposed to improve the success rate and efficiency of assembly path planning for complex products in a narrow space.This method discretizes the local space with the tree node to be expanded as the center and provides a variety of available new state candidates for the path.According to the difficulty of assembly movement,two movement strategies and corresponding evaluation indexes are proposed to guide the expansion of the local path.Simulation results demonstrate that the proposed method is effective in improving the success rate and efficiency in assembly path planning.
作者
熊晶
段晓坤
XIONG Jing;DUAN Xiaokun(Changzhou College of Information Technology,Changzhou 213164)
出处
《现代制造技术与装备》
2021年第7期11-14,共4页
Modern Manufacturing Technology and Equipment
基金
江苏省高职院校青年教师企业实践培训项目(2020QYSJ130)
常州高技术重点实验室项目(CM20183004)
常州信息职业技术学院自然科学基金项目(CXKZ201904Y)。
关键词
装配路径规划
虚拟装配
狭窄空间
快速搜索随机树
assembly path planning
virtual assembly
narrow space
rapid-exploring random tree
