曲线形套装路径规划算法研究  

The Study of Path Planning Algorithm for Curving Assembly

作　　者：廖祝华[1] 刘晓平[2] 刘松林[2] 

机构地区：[1]湖南科技大学计算机科学与工程学院,湘潭411201 [2]中科院等离子体物理研究所

出　　处：《计算机工程与应用》2005年第17期116-119,共4页Computer Engineering and Applications

基　　金：国家自然科学基金(编号:60273044)资助

摘　　要：曲线形套装是一类非常复杂的产品装配过程,零件装配除了要顺着被套装零件曲线形移动还要配合调整自身的方位角才能到达目标,其路径规划问题难以沿用现有的装配路径规划方法。论文通过分析这类曲线形套装时的装配特征,在总结传统A搜索算法基础上,提出了一种能够自调整方位角的装配路径规划算法。在节点扩展中扩展位置和角度偏移量,并对传统A搜索算法加以改进,避免被套装零件局部凸凹变化引起搜索停滞不前和算法假失败情况。Curving assembly is a complex process of products assembling.The assembling part must be rotated to adjust its orientation while translating along the being assembled curving part.Path planning of this type assembly is difficult to use existing methods of all path planning of assembly,the paper presents a new path planning of assembly which can automatically adjust the assembling part's angle while translating.Based on general A arithmetic the authors have expanded the position and angle's offset while expanding node,and have maken some modification to avoid the search stagnate and the algorithm false to fail.

关 键 词：曲线形套装 路径规划 A^＊搜索算法 碰撞检测 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]