机器人装配专家系统的设计和实现

Design and implementation of an expert system for robotic assembly

在分析和研究机器人装配和知识库的基础上，本文建立了一个机器人装配知识库系统ＡＫＢＳ（ＡｓｓｅｍｂｌｙＫｎｏｗｌｅｄｇｅＢａｓｅＳｙｓｔｅｍ），它主要包括零件库、关系模型库、规则库及推理机。在建立零件库的过程中作者提出了一种基于ＣＳＧｒｅｐ的零件表示方法ＰＲ－ＣＳＧ，能够较全面地反映出在装配领域所需要的零件几何特征和物理特性，具有较强的表达能力；同时也容易实现与现有成熟的ＣＡＤ系统接口。在此基础上采用了统一的形式实现了对装配体中零件间的各种关系的描述，建立了具有层次结构的关系模型库。从书本和专家经验中抽取的知识存放在规则库中。

n the basis of analyzing and researching robotic assembly and knowledge base,this paper discusses the structure and representation of the RAES (robotic assembly expert system ), which includes a part base,an assembly model base,a rule base and an inference engine. For building part base a representation PR--CSG for mechanical parts has been presented, which can perfectly describe the part's geometrical and physical features and can be integrated with a CAD system easily.The authors also use a unified representation to describe the relationships between the parts of a mechanical assembly product and building hiratical relational models base.By learning the mechanical books and exchanging the experiences with the assembly expert, the assembly experience knowledge was acquired and put in the rule base.