轿车车身冲压线Tooling的自动化虚拟装配模型  

Virtual assembly model of press line Tooling for saloon car body part

作　　者：李翠玲[1] 张浩[2] 赵荣泳[1] 樊留群[1] 王平[3] 

机构地区：[1]同济大学CIMS研究中心 [2]上海电力学院信息与控制工程系,上海200090 [3]上海大众汽车有限公司TMS,上海201805

出　　处：《计算机集成制造系统》2007年第11期2110-2114,共5页Computer Integrated Manufacturing Systems

基　　金：中德政府合作资助项目(20002DFG00027)。~~

摘　　要：为解决轿车车身冲压线端拾器Tooling的空间结构设计和标准件选型主要依赖工程师经验的问题,以及由标准件长度系列的不连续性所导致的手工调整的效率瓶颈问题,分析了Tooling装配过程的数学本质。首次引入机器人运动学Denavit-Hartenberg模型,基于反向运动学原理和虚拟装配的空间约束关系,建立了Tooling空间装配的数学模型,并根据Tooling装配所用标准件长度不连续的特点,进一步给出了Tooling吸盘组件的空间位置调整策略。最后,通过对虚拟装配计算实例,验证了该模型的正确性和有效性,实现了轿车车身冲压线Tool-ing的虚拟装配的自动化。To solve the problems that the Tooling structure design and standard parts selection fully depend on the plan engineers＇ operation experiences,and that the assembly adjustment fully depend on manual operation on the 3-D Computer Aided Design（CAD） software platform caused by the discontinuous length of the standard parts,which produced an efficiency bottle-neck problem in the Tooling design,the mathematical essence of the Tooling assembly was analyzed.The robotic Denavit-Hartenberg theory was firstly introduced to describe the Tooling virtual assembly procedure.Then the Tooling assembly mathematical model was established based on the Denavit-Hartenberg inverse kinematics and virtual assembly space constraint relationships for describing the position of robots theory in 3-D space.And to solve the problem of length discontinuousness of standard parts,the position adjustment strategy for Tooling vacuum group was studied and presented.Finally,the computation result in an assembly case proved that this method was valid and effective.By this method,the real automatic assembles for Tooling was realized in virtual environment.

关 键 词：虚拟装配 机器人学 冲压生产线 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]