一种交互式多机器人复杂系统仿真方法研究
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摘要
多机器人作业系统是无人系统的一个重要方面,为解决作业工序复杂、任务种类繁多,构建异构多机器人系统是解决问题的重要手段。实际作业系统构建和实施的复杂性,使得建立交互式仿真方法变得十分重要。针对传统交互式多机器人拆解装配序列仿真的不足,提出一种面向复杂的多零部件、多装配工具、多机器人交互的序列生成方法。采用优先序列图来描述零部件的约束关系,构建优先关系矩阵,确定工具的作用范围,对异构机器人的能力进行设定。通过将APG转化为优先序列矩阵,进行行列式求解,推算出当前可处理的零部件,结合空闲状态的工具,和有能力的机器人相互协同作业,得出合理的装配和拆解序列,为实际操控提供有效的运行辅助。
Multi robot system is an important part of unmanned systems. In order to solve the complicated operation process and task variety problem,constructing a heterogeneous multi robot system is necessary. The construction of the actual operating system and implementation complexity,makes the establishment of interactive simulation method very important. Aiming at the deficiency of traditional interactive multi robot disassembly assembly sequence simulation,we presented an assembly sequence generation method for more complex multiple components,assembling tools,multi robot interaction. We used assembly precedence graph to describe the constraints relation among the parts,construct the assembly precedence matrix,and set the parameters according to the ability of heterogeneous robot. The assembly precedence graph was transformed into assembly precedence matrix,to explore the determinant solution. Then the parts that can be processed currently was calculated. The idle state of tools work collaboratively with capable robots,so that we can get reasonable operation of assembly and disassembly sequence,which provides somen assistant to the operation.
Multi robot system is an important part of unmanned systems. In order to solve the complicated operation process and task variety problem,constructing a heterogeneous multi robot system is necessary. The construction of the actual operating system and implementation complexity,makes the establishment of interactive simulation method very important. Aiming at the deficiency of traditional interactive multi robot disassembly assembly sequence simulation,we presented an assembly sequence generation method for more complex multiple components,assembling tools,multi robot interaction. We used assembly precedence graph to describe the constraints relation among the parts,construct the assembly precedence matrix,and set the parameters according to the ability of heterogeneous robot. The assembly precedence graph was transformed into assembly precedence matrix,to explore the determinant solution. Then the parts that can be processed currently was calculated. The idle state of tools work collaboratively with capable robots,so that we can get reasonable operation of assembly and disassembly sequence,which provides somen assistant to the operation.
引文
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[2]吕风县,张桂香,张庆洪.基于拆卸和拆卸约束矩阵的装配序列规划[J].现代制造工程,2014,(1):21-25.
[3]A C LIN,T C CHANG.3D MAPS:Three dimensionalmechanical assembly planning systems[J].Journal of Manufacturing Systems,1993,12(6):437-456.
[4]L LAPERRIERE,H A ELMARAGHY.GAPP:Agenerative assembly process planner[J].Journal of Manufacturing Systems,1996,15(4):282-293.
[5]R B GOTTIPOLU,K GHOSH.A simplified and efficientrepresentation for evaluation and selection of assemblysequences[J].Computers in Industry,2003,50(3):251-264.
[6]WANG Junfeng,LIU Jihong,ZHONG Yifang.Integratedapproach to assembly sequence planning of complexproducts[J].Chinese Journal of Mechanical Engineering,2004,17(2):181-184.
[7]DONG Tianyang,et al.A knowledge-based approach to assemblysequenceplanning[J].International.Journal of Advanced Manufacturing Technology,2007,32(12):1232-1244.
[8]刘亚杰,等.基于改进遗传编程的并行装配序列规划[J].计算机机械制造系统,2013,19(6):1238-1248.
[9]高钦和,邓刚锋.基于矩阵运算的虚拟装配体拆卸过程建模方法[J].计算机应用,2012,32(11):3232-3234,3239.
[10]王丰产,孙有朝,李娜.多工位装配序列粒子群优化算法[J].机械工程学报,2013,48(9):154-162.