本文選題：機(jī)器人裝配　切入點(diǎn)：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(guò)程中耗時(shí)較多的一個(gè)環(huán)節(jié),應(yīng)用機(jī)器人對(duì)產(chǎn)品進(jìn)行自動(dòng)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(duì)產(chǎn)品進(jìn)行裝配規(guī)劃時(shí),面向機(jī)器人自動(dòng)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(duì)規(guī)劃過(guò)程以及結(jié)果的影響。本文在分析了國(guó)內(nèi)外相關(guān)裝配規(guī)劃技術(shù)的基礎(chǔ)上,針對(duì)機(jī)器人自動(dòng)化裝配作業(yè)的需求,對(duì)產(chǎn)品的裝配規(guī)劃技術(shù)進(jìn)行了研究。研究?jī)?nèi)容如下:針對(duì)產(chǎn)品裝配規(guī)劃過(guò)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(gè)關(guān)鍵技術(shù)的實(shí)現(xiàn)流程進(jìn)行了分析,建立了面向機(jī)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(guò)程對(duì)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(dá)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(shí)現(xiàn)了對(duì)零件及其裝配資源動(dòng)態(tài)約束關(guān)系的表達(dá),降低了裝配規(guī)劃的復(fù)雜程度。針對(duì)裝配序列規(guī)劃過(guò)程中的多約束尋優(yōu)問(wèn)題,提出了裝配序列幾何可行性的判斷方法,同時(shí)定義了評(píng)價(jià)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(shí)現(xiàn)了對(duì)產(chǎn)品內(nèi)各零件裝配順序的規(guī)劃。通過(guò)對(duì)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(jìn)行對(duì)比分析,驗(yàn)證了裝配規(guī)劃過(guò)程中考慮設(shè)備資源的重要性。針對(duì)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(wú)法對(duì)折線裝配路徑進(jìn)行求解的問(wèn)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(diǎn)對(duì)零件進(jìn)行定位,結(jié)合基于層次化包圍盒的干涉檢測(cè)算法,實(shí)現(xiàn)了零件無(wú)碰撞的裝配路徑求解。針對(duì)機(jī)器人自動(dòng)化作業(yè)的環(huán)境,對(duì)所得路徑進(jìn)行優(yōu)化,減少了零件的移動(dòng)距離及移動(dòng)過(guò)程中的方向變換,提高了產(chǎn)品的裝配效率。設(shè)計(jì)了裝配規(guī)劃系統(tǒng),實(shí)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(guò)對(duì)產(chǎn)品的裝配過(guò)程進(jìn)行三維可視化仿真,驗(yàn)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(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TG95;TP242

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