摘要
针对低压电器自动化装配中所存在的资源无序竞争及交互不平衡问题,提出一种基于着色Petri网(CPN)的协同装配方法;利用人工势场(APF)算法来实现机器人的协同交互控制;并提出了一种基于目标函数梯度的自适应量子遗传算法(AQGA),对装配时间、装配机器人数等关键参数进行平衡优化;构建了一个面向断路控制器的协同装配实例,对所提方法的有效性进行了验证。结果表明,协同装配控制方法能够提高低压电器装配的柔性化程度,确保装配单元间的协同交互,实现低压电器的快速有序装配,提高了装配工作效率。
For the resource competition and disordered communication in the automation assembling of the low-voltage apparatus,the collaborative assembling method was proposed based on Color Petri Net(CPN).By utilizing the algorithm of Artificial Potential Field(APF),the cooperative interaction control was realized among robots,and an Adaptive Quantum Genetic Algorithm(AQGA)based on gradient of object function was proposed to harmoniously optimize some key parameters,such as assembling time,robot number and so on.The example of cooperation assembly on circuit breaker was established,and the efficiency of method was verified.The results showed that the collaborative assembling method could improve the flexibility in the low-voltage apparatus assembly,ensure the cooperative interaction among the assembling cells,realize the order and quick assembly of low-voltage apparatus and improve the assembling efficiency.
作者
张立彬
吕焕培
胥芳
谭大鹏
陈教料
林琼
ZHANG Libin;LYU Huanpei;XU Fang;TAN Dapeng;CHEN Jiaoliao;LIN Qiong(College of Mechanical Engineering,Zhejiang University of Technology,Hangzhou 310014,China;College of Mechanical and Electronic Engineering,Ningbo University of Finance&Economics,Ningbo 315175,China)
出处
《计算机集成制造系统》
EI
CSCD
北大核心
2020年第7期1737-1748,共12页
Computer Integrated Manufacturing Systems
基金
国家自然科学基金项目(U1509212,51775501)
浙江省公益技术研究资助项目(2016C31039)。
关键词
协同装配系统
人工势场
着色PETRI网
低压电器
自适应量子遗传算法
collaborative assembling system
artificial potential field
color Petri net
low-voltage apparatus
adaptive quantum genetic algorithm
