装配过程稳定性分析  

Stability Analysis of Assembly Process

作　　者：管强[1] 张申生[1] 刘继红[2] 

机构地区：[1]上海交通大学计算机科学与工程系,上海200030 [2]华中科技大学国家CAD支撑软件工程中心,武汉430074

出　　处：《上海交通大学学报》2004年第4期501-505,共5页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金重大项目(59990470-2);国家高技术研究发展计划(863)项目(2002AA411420)

摘　　要：建立了面向装配过程稳定性分析的装配模型,从装配操作的稳定性和子装配体稳定位姿两方面分析装配过程的稳定性.基于支撑矩阵和增强邻接矩阵构建拆卸操作稳定判别算法来反推装配操作的稳定性.基于软联接图,通过计算子装配体内部自由度的方法来求解子装配体稳定的装配位姿.该方法被用于虚拟装配/拆卸过程中,开发了虚拟环境下的装配/拆卸原型系统,以支持拟实的装配/拆卸规划.A special assembly model for stability of assembly process was built. The stability analysis of assembly process was implemented from the stability of components assembled and the stable location and pose of moving subassemblies. The judgment algorithm of stability of disassembly operation was given based on the support matrix and the extended adjacency matrix to derive the stability of assembly operation. The internal degree of freedom of subassembly was computed based on the soft connecting graph to get the stable assembly location and pose. The prototype system of assembly/disassembly planning under virtual environment were developed to verify this approach.

关 键 词：稳定性分析 稳定位姿 装配模型 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP391[自动化与计算机技术—控制科学与工程]