机械臂多任务协同建模与分配方法  

Multi-task Collaborative Modeling and Assignment Method of Manipulator

作　　者：吴仁杰 阴艳超[1] 徐凯[1] Wu Renjie;Yin Yanchao;Xu Kai(Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China)

机构地区：[1]昆明理工大学机电工程学院,昆明650500

出　　处：《机械科学与技术》2020年第3期433-437,共5页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家重点研发计划项目(2017YFB1400301);National Key R&D Program of China(2017YFB1400301)资助。

摘　　要：针对大型叶片精加工效率低的问题,提出了一种多机械臂协同加工大型叶片的方法,对机械臂多任务协同建模与分配方法进行了深入的研究及详细的阐述。首先构建了大型叶片多机械臂协同加工多任务分配模型,根据叶片的曲率云图将叶片划分为多个加工任务,然后以最短加工时间为目标,提出了一种基于贪婪算法协同加工多任务分配方法,并给出了方法流程和具体步骤,最后通过实例验证了本方法的有效性和可行性。Aiming at the low efficiency of large blade finishing,a collaborative method of multi-manipulator for machining large blade was proposed,and the method of multi-task collaborative modeling and assignment for manipulator is studied in depth and elaborated in detail.Firstly,a multi-task allocation model for the collaborative processing of large-scale blade using multi-manipulator is constructed.According to the curvature cloud of blade,the blade is divided into several processing tasks.Then,in order to decrease the shortest processing time,a multi-task allocation method based on the greedy algorithm for collaborative processing is proposed,and the flow chart and specific steps are given.Finally,an example is given to verify the effectiveness and feasibility of this method.

关 键 词：大型叶片 机械臂加工 多任务协同 任务分配 

分 类 号：TG391[金属学及工艺—金属压力加工]