基于赋时Petri网的机器人小臂装配线建模  

Robot Arm Assembly Line Modeling Based on Timed Petri Net

作　　者：姜明壮 李东波[1] 童一飞[1] JIANG Mingzhuang;LI Dongbo;TONG Yifei(School of Mechanical Engineering,Nanjing University of Science & Technology,Nanjing Jiangsu 210094,China)

机构地区：[1]南京理工大学机械工程学院

出　　处：《机床与液压》2019年第14期1-6,共6页Machine Tool & Hydraulics

基　　金：教育部人文社会科学研究青年基金资助项目(17YJC630139);国防科技项目基金资助项目(0106142)

摘　　要：针对机器人小臂装配过程复杂、装配线平衡分析困难的问题,提出一种以自上而下/自下而上为指导思想的赋时Petri网建模方法。根据机器人小臂实际装配的特点,研究了该装配线模型的定义规则和构建方法。在引入模型假设之后,先用自上而下的思想建立基于流程的赋时Petri网模型;再用自下而上的思想建立基于任一工序的赋时Petri网模型;然后将前两步所建模型相结合并细化,从而建立整个装配线的赋时Petri网模型。最后,通过建立和分析对应模型的可达树验证了该建模方法的可行性。研究对指导机器人小臂装配线的构建具有较大的应用价值。Aiming at the problems of complicate process for robotic arm assembly and difficult analysis for line balancing,a timed Petri network modeling method based on top-down/down-top was proposed.According to the actual assembly characteristics of the robotic arm,the definition rules and construction methods of the assembly line model were studied.After introducing the model hypothesis,a timed Petri net model based on the process was built with the idea of top-down.Then a timed Petri net model based on any procedure wasbuilt with the idea of down-up.Then the models above were combined to establish the timed Petri net model of the entire assembly line.Finally,the feasibility of the modeling method was verified by establishing and analyzing the reachable tree of the corresponding model.And this study has great application value in guiding the construction of robot arm assembly line.

关 键 词：装配线平衡 建模 赋时PETRI网 自上而下/自下而上思想 机器人小臂装配 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]