考虑装配工具的虚拟装配支持系统的研究与实现
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摘要
长期以来，落后的装配设计方法一直是生产自动化进程的主要瓶颈之一。作为虚拟制造重要组成部分的虚拟装配技术，是对传统装配方法的革新，它的产生和发展有望解决这一困扰制造业多年的难题。本文在分析虚拟装配研究现状和存在问题的基础上，深入研究了装配信息建模、信息模型重构、装配工具建模和考虑装配工具的装配工艺规划等虚拟装配关键技术。主要内容概括如下：
1．建立了多视图层次化的装配信息模型，并在此基础上形成了装配体的层次结构树和约束关系库，为装配工艺规划、过程仿真等虚拟装配后续步骤提供有效的信息支持。
2．针对设计过程中产生的装配体层次结构不符合装配规划要求的问题，采用装配元件位姿矩阵作为模型重构依据，很好地解决了信息模型重构问题。
3．为实现装配工具的自动选择和定位，提出装配特征概念，使用装配特征对装配工具进行几何建模。在分析装配工具功能行为的基础上，采用11元组描述装配工具的行为信息，从而实现装配工具的行为建模。
4．分析装配工具对装配工艺规划的影响，提出装配工步和装配工步链表的概念描述装配过程，并将装配工具的装配活动划分为引入、操作和退出三个阶段，针对具体装配工具提出实现装配工具自动化操作的方法。提出考虑装配工具操作的装配过程仿真的实现方法。
5．详细介绍了考虑装配工具的虚拟装配支持系统的总体结构、功能模块及具体实现方法。结合实例说明了虚拟装配支持系统的使用流程，验证了本文阐述的研究成果。
For a long time, the backward way to assembly planning has been one of the main bottleneck preventing the development of manufacture automation. Virtual assembly, as the main part of virtual manufacturing, is regarded as technological innovation for traditional assembly design and is likely to solve the ever-lasting problem of assembly automation. Based on analysis of present situation and existent problem of virtual assembly, this paper dwells on the key technology of virtual assembly such as assembly information modeling, model reconstruction, assembly tool modeling and assembly process planning with assembly tool. The issues involved in this research are as follows:
1. An multi-view and layered assembly information model is established, on the base of which the layered tree and the constraint base are developed. They can provide enough information for the next steps such as assembly process planning and process simulation.
2. In order to solve the problem of product assembly body's layered structure inconsistent with assembly process, location-pose-matrix is used as the base of model reconstruction and the problem is well worked out.
3. In order to implement the automatic selection and location of assembly tool, assembly feature is put forward and adopted to build the assembly tool geometric information model. In addition, based on the analysis of assembly tool's function characteristics, 11-tuple representation is used to describe the movement of the tool. Assembly tool's behavior model is built.
4. Based on the analysis of assembly tool's effect on the assembly process planning, assembly step and assembly step link is given and used to describe the assembly procedure. In addition, the process of assembly tool is divided into entry, operation and quit. Some tool's automatic operation is implemented.
5. The architecture of virtual assembly support system with assembly tool is
given, and the functional module and implementation of the system are
described in detail. Finally an application is given to explain the usage of system and proves the above-mentioned achievement.
1．建立了多视图层次化的装配信息模型，并在此基础上形成了装配体的层次结构树和约束关系库，为装配工艺规划、过程仿真等虚拟装配后续步骤提供有效的信息支持。
2．针对设计过程中产生的装配体层次结构不符合装配规划要求的问题，采用装配元件位姿矩阵作为模型重构依据，很好地解决了信息模型重构问题。
3．为实现装配工具的自动选择和定位，提出装配特征概念，使用装配特征对装配工具进行几何建模。在分析装配工具功能行为的基础上，采用11元组描述装配工具的行为信息，从而实现装配工具的行为建模。
4．分析装配工具对装配工艺规划的影响，提出装配工步和装配工步链表的概念描述装配过程，并将装配工具的装配活动划分为引入、操作和退出三个阶段，针对具体装配工具提出实现装配工具自动化操作的方法。提出考虑装配工具操作的装配过程仿真的实现方法。
5．详细介绍了考虑装配工具的虚拟装配支持系统的总体结构、功能模块及具体实现方法。结合实例说明了虚拟装配支持系统的使用流程，验证了本文阐述的研究成果。
For a long time, the backward way to assembly planning has been one of the main bottleneck preventing the development of manufacture automation. Virtual assembly, as the main part of virtual manufacturing, is regarded as technological innovation for traditional assembly design and is likely to solve the ever-lasting problem of assembly automation. Based on analysis of present situation and existent problem of virtual assembly, this paper dwells on the key technology of virtual assembly such as assembly information modeling, model reconstruction, assembly tool modeling and assembly process planning with assembly tool. The issues involved in this research are as follows:
1. An multi-view and layered assembly information model is established, on the base of which the layered tree and the constraint base are developed. They can provide enough information for the next steps such as assembly process planning and process simulation.
2. In order to solve the problem of product assembly body's layered structure inconsistent with assembly process, location-pose-matrix is used as the base of model reconstruction and the problem is well worked out.
3. In order to implement the automatic selection and location of assembly tool, assembly feature is put forward and adopted to build the assembly tool geometric information model. In addition, based on the analysis of assembly tool's function characteristics, 11-tuple representation is used to describe the movement of the tool. Assembly tool's behavior model is built.
4. Based on the analysis of assembly tool's effect on the assembly process planning, assembly step and assembly step link is given and used to describe the assembly procedure. In addition, the process of assembly tool is divided into entry, operation and quit. Some tool's automatic operation is implemented.
5. The architecture of virtual assembly support system with assembly tool is
given, and the functional module and implementation of the system are
described in detail. Finally an application is given to explain the usage of system and proves the above-mentioned achievement.
引文
[1] Boothroyd G. Assembly Automation and Product Design. Marcel Dekker. NY. 1992
[2] Connacher H I, Jayaram S, Lyons K W. Virtual assembly design environment [A]. In: Proceedings of 1995 ASME Computers in Engineering Conference and Engineering Database Symposium, Boston, MA, U SA, September, 1995: 875-885
[3] Jung B et al. Knowledge-based assembly simulation for virtual prototype modeling. In: Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society, Germany, 1998.2152-2157
[4] Grandl Reinhard. Virtual process week in the experimental vehicle build at BMW AG [J]. Robotics and Computer Integrated Manufacturing, 2001,17(2): 65-71
[5] Jayaram S et al. VADE: A virtual assembly design environment. IEEE Computer Graphics and Applications, 1999,19(6): 44-50
[6] Stephen G. Kaufman, Wilson, Rondall E. Jones, et al. The Archimedes Mechanical Assembly Planning System. In Proc. of IEEE International Conf. On Robotics and Automation. 1996, 3361～3368
[7] 张林鍹．并行工程环境下面向装配的产品设计研究：[博士学位论文]．北京：清华大学，1998
[8] 张林鍹．虚拟装配技术研究与应用：[博士后研究报告]．北京：清华大学，2000
[9] 郑勇，龚光容，王拴虎，慈瑞梅．虚拟装配系统及关键技术研究[J]．先进制造技术，2003，22(3)：11-13
[10] 万华根，高曙明，彭群生．VDVAS：一个集成的虚拟设计与虚拟装配系统[J]．中国图象图形学报，2002，7(1)：27-35
[11] 李永力，张树有，刘振宇．VRML环境下基于语义的产品装配设计技术研究[J]．计算机辅助设计与图形学学报，2003，15(2)：209-214
[12] 管强，刘继红，钟毅芳，周济．虚拟环境下面向装配的设计系统的研究[J]．计算机辅助设计与图形学学报，2001，13 (6)：514-520
[13] 李原，张涛，曹哲，杨海成．支持操作的装配仿真技术研究[J]．工程设计，2000(1)：23-26
[14] Pro/Toolkit User's Guide[M]. USA: Parametric Technology Corporation, 1998
[15] Bourjault A. Contribution a une approche methodologique del'assemblage automatise: Elaboration Automatique des Sequence operatoires: [PhD Thesis]. Faculte des Sciences et des Techniques del'Universite de Franche-Comte, 1984
[16] Homen de Mello L S, Sanderson A C. Representations of mechanical assembly sequences. In: IEEE Transaction on Robotics and Automation. 1991, 7:211～227
[17] Lieberman L I, Wesley M A. AUTOPASS: an automatic program system for computer controlled mechanical assembly. IBM Journal of Research and Development, 1977, 21 (4): 321～333
[18] Homen de Mello L S, Sanderson A C. AND/OR graph representation of assembly
plans. In: IEEE Transactions on Robotics and Automation. 1990, 6(2): 188～199
[19] Lee K, Gossard D C. A hierarchical data structure for representing assemblies: part 1. Computer-Aided Design. 1985, 17(1): 15～19
[20] 孙家广，许隆文．计算机图形学[M]．北京：清华大学出版社，1986
[21] 曾理，张林鍹，肖田元．一个虚拟装配支持系统的实现[J]．系统仿真学报．2002，14(9)：1149-1153
[22] Homen de Mello L S, Sanderson AC. A correct and complete algorithm for the generation of mechanical assembly sequences. In: IEEE Transactions on Robotics and Automation. 1991, 7(2): 228-240
[23] 曹鹏彬，刘继红，管强．虚拟拆卸环境中工具的操作技术[J]．计算机辅助设计与图形学学报，2003，15(4)：454-458
[24] 卞维展．钢套的液压装配专用工具[J]．矿山机械．2003，6：71
[25] 孙骅．一种特型液压双头拉伸机械手的设计与研制[J]．液压与气动．2003．5：40-42
[26] 侯永涛．装配工具库应用系统的研究和丌发[硕士学位论文]．江苏大学，2003
[27] Sekiguchi H et al. Study on automatic determination of assembly sequence. Annals of the CIRP, 1983, 32:30-33
[28] Bourjault A, Lbole A. Modeling an assembly Process[J].IEEE International Conference on Automation of Manufacturing Industry, 1986, 20(2): 183-198
[29] De Fazio T L, Whitney D E. Simplified generation of all mechanical assembly sequence. IEEE Journal of Robotics and Automation, 1987, RA-3(6):640-658
[30] De Fazio T L, Whitney D E. Correction to "Simplified generation of all mechanical assembly sequence". IEEE Journal of Robotics and Automation, 1988, RA-4 (6):705-708
[31] Homen de Mello L S, Sanderson A C. Automatic generation of mechanical assembly sequences. Proceedings of the 1989 IEEE International Conference on Robotics and Automation. 1989, 1:55-61
[32] Homen de Mello L S, Sanderson A C. Evaluation and selection of assembly plans. Proceedings of the 1990 IEEE International Conference on Robotics and Automation. 1990, 3:1588-1593
[33] Homen de Mello L S, Sanderson A C. Two criteria for the selection of assembly plans: maximizing the flexibility of sequencing the assembly tasks and minimizing the assembly time through parallel execution of assembly tasks. Proceedings of the 1991 IEEE International Conference on Robotics and Automation. Sacramento, California, USA, 1991, 2:626-633
[34] 顾廷权，高国安，徐向阳．装配工艺规划中装配序列生成与评价方法研究[J]．计算机集成制造系统，1998(1)：25-27
[35] 卢小平．面向虚拟装配的装配顺序规划研究[J]．系统仿真学报，2003，15(1)：44-47
[36] 廖华飞．基于虚拟装配的装配工艺规划技术研究[硕士学位论文]．北京：清华大学．2003
[37] 王辉，顾寄南，张林鍹．基于规则的装配顺序规划方法研究[J]．计算机辅助设计与制造，2002，2：73-75
[38] 王辉，张林鍹，肖田元等．虚拟装配支持系统中面向多方案工艺规划的研究
[J]．机械科学与技术．2003，9：808-811
[39] 张林鍹，童秉枢，肖田元等．CE环境下装配仿真系统的实现及应用[J] 计算机应用 2000，20：195-197
[40] 廖华飞，张林鍹，肖田元等．装配工艺规划后处理的研究与应用[J]．现代制造工程 2002 11：7-10
[41] 廖华飞，张林鍹，肖田元等．装配工艺文件的自动生成[J]．机械科学与技术．2004，23(2)：242-244
[42] Wang Hui, Zhang Linxuan, Xiao Tianyuan, Zhu Mingquan, Gu Jinan. Virtual Assembly Supported System for Mechanical Parts. The 31 st International Conference on Computers and Industrial Engineering. San Francisco, California, USA. Feb. 2002
[2] Connacher H I, Jayaram S, Lyons K W. Virtual assembly design environment [A]. In: Proceedings of 1995 ASME Computers in Engineering Conference and Engineering Database Symposium, Boston, MA, U SA, September, 1995: 875-885
[3] Jung B et al. Knowledge-based assembly simulation for virtual prototype modeling. In: Proceedings of the 24th Annual Conference of the IEEE Industrial Electronics Society, Germany, 1998.2152-2157
[4] Grandl Reinhard. Virtual process week in the experimental vehicle build at BMW AG [J]. Robotics and Computer Integrated Manufacturing, 2001,17(2): 65-71
[5] Jayaram S et al. VADE: A virtual assembly design environment. IEEE Computer Graphics and Applications, 1999,19(6): 44-50
[6] Stephen G. Kaufman, Wilson, Rondall E. Jones, et al. The Archimedes Mechanical Assembly Planning System. In Proc. of IEEE International Conf. On Robotics and Automation. 1996, 3361～3368
[7] 张林鍹．并行工程环境下面向装配的产品设计研究：[博士学位论文]．北京：清华大学，1998
[8] 张林鍹．虚拟装配技术研究与应用：[博士后研究报告]．北京：清华大学，2000
[9] 郑勇，龚光容，王拴虎，慈瑞梅．虚拟装配系统及关键技术研究[J]．先进制造技术，2003，22(3)：11-13
[10] 万华根，高曙明，彭群生．VDVAS：一个集成的虚拟设计与虚拟装配系统[J]．中国图象图形学报，2002，7(1)：27-35
[11] 李永力，张树有，刘振宇．VRML环境下基于语义的产品装配设计技术研究[J]．计算机辅助设计与图形学学报，2003，15(2)：209-214
[12] 管强，刘继红，钟毅芳，周济．虚拟环境下面向装配的设计系统的研究[J]．计算机辅助设计与图形学学报，2001，13 (6)：514-520
[13] 李原，张涛，曹哲，杨海成．支持操作的装配仿真技术研究[J]．工程设计，2000(1)：23-26
[14] Pro/Toolkit User's Guide[M]. USA: Parametric Technology Corporation, 1998
[15] Bourjault A. Contribution a une approche methodologique del'assemblage automatise: Elaboration Automatique des Sequence operatoires: [PhD Thesis]. Faculte des Sciences et des Techniques del'Universite de Franche-Comte, 1984
[16] Homen de Mello L S, Sanderson A C. Representations of mechanical assembly sequences. In: IEEE Transaction on Robotics and Automation. 1991, 7:211～227
[17] Lieberman L I, Wesley M A. AUTOPASS: an automatic program system for computer controlled mechanical assembly. IBM Journal of Research and Development, 1977, 21 (4): 321～333
[18] Homen de Mello L S, Sanderson A C. AND/OR graph representation of assembly
plans. In: IEEE Transactions on Robotics and Automation. 1990, 6(2): 188～199
[19] Lee K, Gossard D C. A hierarchical data structure for representing assemblies: part 1. Computer-Aided Design. 1985, 17(1): 15～19
[20] 孙家广，许隆文．计算机图形学[M]．北京：清华大学出版社，1986
[21] 曾理，张林鍹，肖田元．一个虚拟装配支持系统的实现[J]．系统仿真学报．2002，14(9)：1149-1153
[22] Homen de Mello L S, Sanderson AC. A correct and complete algorithm for the generation of mechanical assembly sequences. In: IEEE Transactions on Robotics and Automation. 1991, 7(2): 228-240
[23] 曹鹏彬，刘继红，管强．虚拟拆卸环境中工具的操作技术[J]．计算机辅助设计与图形学学报，2003，15(4)：454-458
[24] 卞维展．钢套的液压装配专用工具[J]．矿山机械．2003，6：71
[25] 孙骅．一种特型液压双头拉伸机械手的设计与研制[J]．液压与气动．2003．5：40-42
[26] 侯永涛．装配工具库应用系统的研究和丌发[硕士学位论文]．江苏大学，2003
[27] Sekiguchi H et al. Study on automatic determination of assembly sequence. Annals of the CIRP, 1983, 32:30-33
[28] Bourjault A, Lbole A. Modeling an assembly Process[J].IEEE International Conference on Automation of Manufacturing Industry, 1986, 20(2): 183-198
[29] De Fazio T L, Whitney D E. Simplified generation of all mechanical assembly sequence. IEEE Journal of Robotics and Automation, 1987, RA-3(6):640-658
[30] De Fazio T L, Whitney D E. Correction to "Simplified generation of all mechanical assembly sequence". IEEE Journal of Robotics and Automation, 1988, RA-4 (6):705-708
[31] Homen de Mello L S, Sanderson A C. Automatic generation of mechanical assembly sequences. Proceedings of the 1989 IEEE International Conference on Robotics and Automation. 1989, 1:55-61
[32] Homen de Mello L S, Sanderson A C. Evaluation and selection of assembly plans. Proceedings of the 1990 IEEE International Conference on Robotics and Automation. 1990, 3:1588-1593
[33] Homen de Mello L S, Sanderson A C. Two criteria for the selection of assembly plans: maximizing the flexibility of sequencing the assembly tasks and minimizing the assembly time through parallel execution of assembly tasks. Proceedings of the 1991 IEEE International Conference on Robotics and Automation. Sacramento, California, USA, 1991, 2:626-633
[34] 顾廷权，高国安，徐向阳．装配工艺规划中装配序列生成与评价方法研究[J]．计算机集成制造系统，1998(1)：25-27
[35] 卢小平．面向虚拟装配的装配顺序规划研究[J]．系统仿真学报，2003，15(1)：44-47
[36] 廖华飞．基于虚拟装配的装配工艺规划技术研究[硕士学位论文]．北京：清华大学．2003
[37] 王辉，顾寄南，张林鍹．基于规则的装配顺序规划方法研究[J]．计算机辅助设计与制造，2002，2：73-75
[38] 王辉，张林鍹，肖田元等．虚拟装配支持系统中面向多方案工艺规划的研究
[J]．机械科学与技术．2003，9：808-811
[39] 张林鍹，童秉枢，肖田元等．CE环境下装配仿真系统的实现及应用[J] 计算机应用 2000，20：195-197
[40] 廖华飞，张林鍹，肖田元等．装配工艺规划后处理的研究与应用[J]．现代制造工程 2002 11：7-10
[41] 廖华飞，张林鍹，肖田元等．装配工艺文件的自动生成[J]．机械科学与技术．2004，23(2)：242-244
[42] Wang Hui, Zhang Linxuan, Xiao Tianyuan, Zhu Mingquan, Gu Jinan. Virtual Assembly Supported System for Mechanical Parts. The 31 st International Conference on Computers and Industrial Engineering. San Francisco, California, USA. Feb. 2002