基于低维度平衡态采样的线缆装配路径规划

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 Equilibrium 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.