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针对多品种、小批量机械产品快速制造技术是目前制约个性化制造的瓶颈问题,提出将快速扩展随机树(RRT)算法用于焊接路径的规划设计,建立了复杂部件的快速焊接规划方法和适应于快速焊接的任务分配器。以移动焊件距离最小和焊接机械手臂从一点出发能最大限度地完成多条焊缝焊接作业为前提,建立了基于RRT算法的运动路径规划器,该规划器能在最短时间内规划出从焊缝焊接起点到焊缝焊接终点的最优无碰撞路径,其焊接任务分配速率和路径规划速率较传统的焊接方法提高5倍左右。
Aiming at the bottleneck restricting personalized manufacturing, the rapid manufacturing technology of multi-species and small-batch mechanical products is put forward that the rapid expansion stochastic tree (RRT) algorithm is applied to the planning and design of welding path, and the rapid welding planning method and adaptation Task dispensers for quick soldering. To move the weldment minimum distance and welding robot starting from one point to maximize the completion of multiple welding seam work as a prerequisite for the establishment of a movement path planner based on the RRT algorithm, the planner in the shortest possible time to plan out from the welding The optimum collision-free path from the beginning of welding to the end of welding is about 5 times higher than that of the traditional welding method.