基于分阶式力引导的自动装配定位方法

Automatic assembly location technologies based on phased force-guidance

为准确模拟人的装配意图,以对虚拟零部件进行引导定位,提高产品装配仿真过程的真实感,提出一种基于分阶式力引导的自动装配定位方法。根据装配过程各阶段不同的施力特点,采取符合各阶段装配意图的施力策略对装配件进行引导定位。从人对物体位姿的实际认知出发,提出一种面向装配过程仿真的物体位姿描述方法及控制策略。通过模拟人机因素对装配力和装配力矩的影响,将人机因素融入产品装配仿真过程。通过在自主开发的虚拟装配原型系统中的应用,验证了所提方法的有效性。

To position the parts accurately according to human intention and simulate the assembly process realistically in virtual space,an automatic assembly location method based on phased force-guidance was proposed.The style of assembly force in each stage of assembly process was analyzed,the approach of exerting force which conformed to assembly intention was taken to provide accurate assembly motion navigation in virtual environment.Based on the human cognition of object s position and posture,a new method for describing and controlling part s position and posture was proposed.Ergonomics factors were integrated into assembly process by simulating the influence of ergonomics factors on assembly force and assembly torque.By applying to a self-developed desktop virtual assembly prototype system,the effectiveness of the proposed method was illustrated.