基于改进快速搜索随机树算法的复杂机电产品线缆装配路径求解

Cable Assembly Path Solving for Complex Mechatronic Products Based on Improved Rapidly-Exploring Random Tree Algorithm

针对复杂机电产品线缆装配路径求解困难的问题,提出一种基于改进快速搜索随机树算法的线缆装配路径求解方法.首先构建基于Cosserat弹性杆理论的线缆物理属性模型;然后提出改进快速搜索随机树算法的3种策略:基于人工势场法(artificial potential field,APF)的线缆装配路径规划策略,使线缆装配路径连接线缆目标构型,方便线缆实际装配;考虑线缆最佳离地高度的节点扩展策略,防止线缆因自身重力而与零部件产生碰撞干涉;基于非均匀三次B样条曲线的路径优化策略,求出一条相对平滑的路径.在Matlab线缆装配路径地图中对所提方法进行仿真的结果表明,改进后的快速搜索随机树算法的结果更优;并通过某相控阵雷达中的线缆装配路径实例,对该方法进行了验证.

Aiming at the difficulty in solving the cable assembly path of complex mechatronic products,a cable assembly path solving method based on improved rapidly-exploring random tree algorithm is pro-posed.Firstly,the cable physical attribute model based on Cosserat elastic rod theory is constructed,and then three strategies for improving the rapidly-exploring random tree algorithm are proposed:the cable as-sembly path planning strategy based on artificial potential field method(APF),makes the path connect with the cable target configuration to facilitate the actual cable assembly;to prevent the cable from colliding with the parts due to its own gravity;the node expansion strategy of the optimal height of the cable from the ground is considered;based on the path optimization strategy of non-uniform cubic B-spline curve,a rela-tively smooth path is found.The simulation results of the proposed method in Matlab cable assembly path map show that the improved rapidly-exploring random tree algorithm has better results.Finally,the proposed method is verified by an example of cable assembly path in a phased array radar.