本文選題：機器人裝配　切入點：裝配序列規(guī)劃　出處：《哈爾濱工業(yè)大學(xué)》2017年碩士論文

【摘要】：產(chǎn)品裝配是生產(chǎn)過程中耗時較多的一個環(huán)節(jié),應(yīng)用機器人對產(chǎn)品進行自動化裝配,相比傳統(tǒng)的手工裝配極大的提高了產(chǎn)品裝配環(huán)節(jié)的效率。在對產(chǎn)品進行裝配規(guī)劃時,面向機器人自動化作業(yè)的裝配規(guī)劃與傳統(tǒng)的虛擬裝配規(guī)劃不同之處在于,需要考慮設(shè)備資源對規(guī)劃過程以及結(jié)果的影響。本文在分析了國內(nèi)外相關(guān)裝配規(guī)劃技術(shù)的基礎(chǔ)上,針對機器人自動化裝配作業(yè)的需求,對產(chǎn)品的裝配規(guī)劃技術(shù)進行了研究。研究內(nèi)容如下:針對產(chǎn)品裝配規(guī)劃過程中的裝配信息建模、裝配序列規(guī)劃和裝配路徑規(guī)劃這3個關(guān)鍵技術(shù)的實現(xiàn)流程進行了分析,建立了面向機器人作業(yè)的產(chǎn)品裝配規(guī)劃總體框架。在分析了裝配規(guī)劃過程對產(chǎn)品數(shù)據(jù)信息需求的基礎(chǔ)上,建立了面向裝配的產(chǎn)品層次模型,以及基于NURBS統(tǒng)一化表達的零件幾何信息模型;并結(jié)合干涉關(guān)系矩陣,建立了包含設(shè)備資源信息的層次化裝配關(guān)系模型,實現(xiàn)了對零件及其裝配資源動態(tài)約束關(guān)系的表達,降低了裝配規(guī)劃的復(fù)雜程度。針對裝配序列規(guī)劃過程中的多約束尋優(yōu)問題,提出了裝配序列幾何可行性的判斷方法,同時定義了評價裝配序列的適應(yīng)度函數(shù)。并在此基礎(chǔ)上,提出了考慮設(shè)備資源情況下,基于離散粒子群算法的最優(yōu)裝配序列求解方法,實現(xiàn)了對產(chǎn)品內(nèi)各零件裝配順序的規(guī)劃。通過對產(chǎn)品分別在考慮設(shè)資源情況下和不考慮設(shè)備資源情況下所得的裝配序列規(guī)劃結(jié)果進行對比分析,驗證了裝配規(guī)劃過程中考慮設(shè)備資源的重要性。針對依據(jù)裝配序列規(guī)劃結(jié)果只能分析得到零件單一方向的直線裝配路徑,無法對折線裝配路徑進行求解的問題,研究了基于RRT的裝配路徑規(guī)劃算法和基于SVD的位姿變換求解算法。利用NURBS控制點對零件進行定位,結(jié)合基于層次化包圍盒的干涉檢測算法,實現(xiàn)了零件無碰撞的裝配路徑求解。針對機器人自動化作業(yè)的環(huán)境,對所得路徑進行優(yōu)化,減少了零件的移動距離及移動過程中的方向變換,提高了產(chǎn)品的裝配效率。設(shè)計了裝配規(guī)劃系統(tǒng),實現(xiàn)了產(chǎn)品的裝配信息建模、裝配序列規(guī)劃以及裝配路徑規(guī)劃的功能。將所得到的裝配規(guī)劃結(jié)果導(dǎo)入DELMIA中,通過對產(chǎn)品的裝配過程進行三維可視化仿真,驗證了裝配規(guī)劃結(jié)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.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TG95;TP242

【參考文獻】

相關(guān)期刊論文 前10條

1 耿翔宇;方憶湘;靳江艷;;基于DELMIA的飛機產(chǎn)品三維可視化裝配工藝設(shè)計[J];機械制造與自動化;2017年01期

2 楊光;王成恩;馬明旭;黃志東;齊秀彪;趙亮;杜運普;;基于圖論的產(chǎn)品拆卸順序規(guī)劃[J];機械設(shè)計與研究;2016年05期

3 鄒長武;鄧益民;王根華;;基于改進干涉矩陣的機械產(chǎn)品拆卸序列規(guī)劃[J];機械設(shè)計與研究;2016年02期

4 張聞雷;曲蓉霞;許美蓉;羅小川;;復(fù)雜產(chǎn)品裝配干涉矩陣自動生成方法[J];機械工程學(xué)報;2016年01期

5 王學(xué)文;秦毅;楊昕宇;龐新宇;楊兆建;;采煤機虛擬現(xiàn)實裝配仿真系統(tǒng)研究[J];圖學(xué)學(xué)報;2015年02期

6 王光慧;胡赤兵;賀成柱;;基于改進遺傳算法的虛擬裝配路徑規(guī)劃研究[J];機械制造與自動化;2015年01期

7 石炳坤;賈曉亮;白雪濤;陳俊皓;;復(fù)雜產(chǎn)品數(shù)字化裝配工藝規(guī)劃與仿真優(yōu)化技術(shù)研究[J];航空精密制造技術(shù);2014年01期

8 孫占磊;趙罡;韓鵬飛;郭春英;;基于非正交干涉矩陣的飛機裝配序列規(guī)劃方法[J];北京航空航天大學(xué)學(xué)報;2013年05期

9 曾冰;李明富;張翼;馬建華;;基于螢火蟲算法的裝配序列規(guī)劃研究[J];機械工程學(xué)報;2013年11期

10 李剛;馬良荔;郭曉明;;交互式拆卸引導(dǎo)裝配路徑規(guī)劃方法研究[J];計算機應(yīng)用與軟件;2012年10期

相關(guān)碩士學(xué)位論文 前4條

1 徐祖含;基于裝配方向矩陣的裝配序列規(guī)劃研究[D];華中科技大學(xué);2014年

2 蔣娟;機器人虛擬裝配建模與路徑規(guī)劃技術(shù)研究[D];電子科技大學(xué);2013年

3 劉宏偉;割集理論在機械裝配中的應(yīng)用研究[D];吉林大學(xué);2012年

4 李澍;飛行器虛擬維修關(guān)鍵技術(shù)研究與環(huán)境實現(xiàn)[D];南京航空航天大學(xué);2007年

，

本文編號：1723770