【摘要】：針對復(fù)雜產(chǎn)品中柔性線纜裝配路徑自動求解困難的問題,提出一種基于低維度平衡態(tài)采樣的線纜裝配路徑自動求解方法。該方法首先建立了基于Cosserat彈性桿理論的線纜物理屬性模型,通過引入"引導(dǎo)路徑"對線纜類可變形體運動規(guī)劃的高維度問題進行降維,在沿"引導(dǎo)路徑"的低維度空間中,以線纜兩端約束參數(shù)進行隨機采樣并構(gòu)建路徑圖,并通過路徑圖中滿足限定條件構(gòu)型的搜索獲得可行的線纜裝配路徑。最后,設(shè)計并開發(fā)了線纜裝配路徑自動求解原型系統(tǒng),通過算例測試和實例驗證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.
【作者單位】： 北京理工大學(xué)機械與車輛學(xué)院;
【基金】：國防基礎(chǔ)科研資助項目(JCKY2016204A502,JCKY2016203B106)~~
【分類號】：TG95

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