基于低维度平衡态采样的线缆装配路径规划  

Assembly path planning of cable harness based on reduced-dimensional equilibrium sampling

作　　者：刘佳顺[1] 刘检华[1] 林海立[1] 马江涛 

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《计算机集成制造系统》2017年第10期2192-2199,共8页Computer Integrated Manufacturing Systems

基　　金：国防基础科研资助项目(JCKY2016204A502;JCKY2016203B106)~~

摘　　要：针对复杂产品中柔性线缆装配路径自动求解困难的问题,提出一种基于低维度平衡态采样的线缆装配路径自动求解方法。该方法首先建立了基于Cosserat弹性杆理论的线缆物理属性模型,通过引入"引导路径"对线缆类可变形体运动规划的高维度问题进行降维,在沿"引导路径"的低维度空间中,以线缆两端约束参数进行随机采样并构建路径图,并通过路径图中满足限定条件构型的搜索获得可行的线缆装配路径。最后,设计并开发了线缆装配路径自动求解原型系统,通过算例测试和实例验证了所提方法的可行性及效果。Aiming at the difficulty on solving Assembly Path Problem （APP） of flexible cable harness automatically in complex products, an assembly path planning of cable harness was proposed based on Reduced-dimensional Equilib- rium Sampling （RES）. The Cosserat elastic rod theory was used for physical property modeling of cable harness. To plan the assembly path with sampling-based method, the guiding path was introduced to reduce the deformation space dimension of deformable objects. In the reduced-dimensional equilibrium space along the guiding path, the probabilistic roadmap was generated by sampling both end constraints of cable harness. A set of feasible equilibrium which was also the assembly path planning result was found. A cable assembly path planning system was developed and the proposed approach was tested on several scenarios for demonstration.

关 键 词：线缆 装配路径规划 低维度平衡态采样 Cosserat弹性杆 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]