机器人装配操作的规划与控制

机器人装配操作是机器人研究与应用的一个重要领域．与机器人焊接、喷涂等作业 不同,机器人的装配操作是一种约束运动类操作,因此在规划和控制时必须考虑接触约束和 各种不确定性因素的影响．本文对机器人装配操作的规划和控制策略进行了详细的综述,并 对一些典型的装配操作任务进行了分析．文末提出了需要进一步深入研究的一些问题．     

面向机器人装配的DFA模糊评价方法

本文论述了面向机器人装配生产方式的DFA评价技术 研究的特点,并提出了一种面向机器人装配的产品可装配性模糊综合评价方法．     

CE环境下装配仿真系统的实现及应用

面向装配的设计 (DFA)是改善产品可装配性的关键 ,装配过程仿真是其中的重要内容之一。本文结合“并行工程”项目的研究与攻关 ,提出并实现了一种CE环境下的装配仿真系统ASMLS ,能在产品设计阶段实施数字化预装配以验证和改进装配工艺 ,必要时还可自主规划可行装配工艺。介绍了系统的构造与功能 ,给出了具体应用实例。目前 ,该系统改进版本的研究开发与应用已正在进行之中。     

航空发动机低压涡轮数字化装配仿真

通过基于三维数字化模型的装配工艺仿真技术,实现基于航空发动机低压涡轮模型在可视化的数字环境中的装配路径规划、装配分析和装配仿真,以验证产品的可装配性及其工艺过程,从而能及时发现产品设计和工艺规划中的缺陷与错误,从而进行改进。民用航空发动机数字化装配仿真分析研究,为下阶段仿真技术研究的体系化与标准化建设奠定了基础。     

基于蒙特卡洛模拟的机器人工作站规划

机器人装配工作站是机器人柔性装配系统的主要组成部分。本文采用蒙特卡罗原理研究作业系统误差、机器人位姿误差补偿和机器人柔顺性对机器人装配过程的影响，从而确定上料装置和定位装置的最优位姿，本文所提出的工作站规划方法对设计机器人装配工作站具有实用价值。     

断路器柔性装配车间数字孪生系统设计

为优化断路器装配车间的产线结构和作业方法,结合数字孪生技术,提出一种基于多机器人运动控制的断路器柔性自动化车间装配方案。面向自动化装配单元,结合工业机器人的柔性装配工艺及方法,对实体装配车间进行全物理属性的数字化建模,同时建立多机器人的运动学控制模型,将机器人的三维运动模型应用于虚拟孪生场景。通过数据的交互传递,实现物理单元与虚拟单元的实时链接,将车间机器人的运动轨迹、装配状态、作业运送流程等数据信息进行实时显示,从而实现断路器柔性装配数字孪生系统的搭建与同步映射。实验结果证明,所提方案对实现断路器柔性装配有显著效果。     

基于PDM系统的产品并行设计工作模式研究

为了使得设计单位与制造单位能够更好的进行协同工作,本文提出了基于PDM和CAPP集成环境的并行工作模式。本方法以PDM为协同平台,将产品设计和工艺编制有机的结合到一起,实现了产品研制过程的并行化,同时也为面向制造和面向装配的设计提供了一个支撑环境,可以大大缩短产品设计制造的生产周期。     

装配序列规划研究综述

装配序列规划是机器人智能装配中的一项重要研究课题，也是ＣＡＤ／ＣＡＭ以及ＣＩＭＳ研究的一个重要组成部分，涉及计算机，人工智能，自动化，机器人和机械工程等领域，本文对机械装配序列规划研究的历史和技术现状进行了综述。     

基于知识Petri网的机器人装配规划

本文介绍了知识Ｐｅｔｒｉ网（ＫＰＮ）的基本概念，在柔性装配系统（ＦＡＳ）中的基于ＫＰＮ的机器人规划的硬件环境和任务，以及用ＫＰＮ为机器人装配规划建模和它的运行。文中详细论述了如何建立邻接矩阵，构造与／或树图，建立邻接链表，构造ＫＰＮ，以及最后如何运行ＫＰＮ。     

基于识别Petri网的机器人装配规划

本文介绍了知识Ｐｅｔｒｉ网（ＫＰＮ）的基本概念，在柔性装配系统（ＦＡＳ）中的基于ＫＰＮ的机器人规划的硬件环境和任务，以及用ＫＰＮ为机器人装配规划建模和它的运行，文中详细论述了如何建立邻接矩阵，构造与／或树图，建立邻接链表，构造ＫＰＮ，以及最后如何运行ＫＰＮ。     

并行环境下广义装配设计的集成框架

提出了以装配建模和变量设计为核心,以装配规划与仿真,装配分析和公差分析与综合等为支撑的广义装配设计的集成框架,该框架能在并行工程的环境下对产品设计进行信息集成和设计过程集成,形成自上而下的,各支撑系统模块间相互依存,相互评价的设计循环,从而提高产品的一次设计成功率。     

Nested partitions method for assembly sequences merging

The severe competition in the market has driven enterprises to produce a wider variety of products to meet consumer’s need. However, frequent variation of product specification and more complexity of product cause the assembly sequence planning of product become more and more complicated. As a result, the issue of assembly sequence planning of complex product becomes a problem which is worthy of concern. In this study, a methodology for assembly sequence planning of complex components is presented, which consists of three phases: assembly-based modular design, assembly subsequences generation for each module and assembly sequences merging. Nested partitions (NP) method is used to merge assembly subsequences. Assembly sequences merging can make full use of subsequences information of modules and simplify assembly sequence planning of the complex products. A desk lamp is used as an example for implementation to validate the feasibility of this research.     

A collaborative approach to assembly sequence planning

Distributed product development requires collaborative work among team members. For the sake of supporting assembly planning activities involving geographically dispersed designers, this paper presents an approach of collaborative assembly sequence planning to validate the assemblability of parts and subassemblies rapidly. In order to increase the planning efficiency and support the collaborative planning, role-based model is exploited to compress or simplify the product. In role-based model, the B-rep models are simplified according to the permissions associated with the role, so the surfaces invisible from outside of the model are removed. In collaborative planning, the planning tasks are assigned to different designers that carry out the collaborative planning, respectively. In this paper, a knowledge-based approach is proposed to the assembly sequence planning problem. This research shows that the typical or standard CSBAT (Connection Semantics Based Assembly Tree) can be applied to a given assembly problem. This paper presents the structure of the Co-ASP (Collaborative Assembly Sequence Planning System) and provides an example to illustrate the collaborative planning approach.     

基于SolidWorks的虚拟装配路径规划研究

在机械产品制造过程中,装配工作占有重要的地位,其成本可以占到制造成本的30％—50％.装配工作对产品的最终质量也有很大影响.虚拟装配可以提前模拟装配过程,对保障装配质量和最终产品质量有着重要的意义,机械手臂的应用也使得装配工作更可控.本文基于SolidWorks三维模型设计软件,利用SolidWorks提供的API接口...     

Geometric skeleton computation enabling concurrent product engineering and assembly sequence planning

This paper introduces a novel modelling approach to geometric skeleton computation enabling concurrent product engineering and assembly sequence planning. Current engineering vision has recently moved towards new modelling and management paradigms to maintain competitive edges all along the product lifecycle. Consistent with concurrent engineering and design for X stakes, this recent shift promotes cross-X and knowledge-intensive philosophies in the product development process, principally focused on lifecycle engineering.The main objective of this research is to integrate assembly process engineering information and knowledge in the early phases of the product development process in a top-down and proactive manner, in order to provide a geometric skeleton-based assembly context for designers. The definition of the product and its related assembly sequence requires both the enhancement and the entire understanding of product relationships between the various product components, and its related assembly rationale. As a consequence, this new modelling approach highlights the need to integrate various stakeholders’ viewpoints involved in the beginning of the product lifecycle. In such a context, earlier work has achieved the early generation of an optimal assembly sequence in the product development process, before the product geometry is completely defined. As a result, previous research has made possible to control and bind the product modelling phase through an assembly oriented product structure.The aim of the proposed approach is to compute and define a geometric skeleton model based on product relational information and the early-defined assembly sequence. The proposed approach–called SKeLeton geometry-based Assembly Context Definition (SKL-ACD)–enables the control of the product modelling phase by introducing skeleton entities consistent with product relationships and assembly sequence planning information. A prototype application within a CAD tool has been developed for aiding geometric skeleton computation and generation. Lastly, an industrial case study is introduced to highlight the feasibility and the relevance of the proposed modelling approach.     

Virtual reality for assembly methods prototyping: a review

Assembly planning and evaluation is an important component of the product design process in which details about how parts of a new product will be put together are formalized. A well designed assembly process should take into account various factors such as optimum assembly time and sequence, tooling and fixture requirements, ergonomics, operator safety, and accessibility, among others. Existing computer-based tools to support virtual assembly either concentrate solely on representation of the geometry of parts and fixtures and evaluation of clearances and tolerances or use simulated human mannequins to approximate human interaction in the assembly process. Virtual reality technology has the potential to support integration of natural human motions into the computer aided assembly planning environment (Ritchie et al. in Proc I MECH E Part B J Eng 213(5):461–474, 1999). This would allow evaluations of an assembler’s ability to manipulate and assemble parts and result in reduced time and cost for product design. This paper provides a review of the research in virtual assembly and categorizes the different approaches. Finally, critical requirements and directions for future research are presented.     

A hierarchical approach on assembly sequence planning and optimal sequences analyzing

Assembly sequence planning (ASP) is a critical technology that bridges product design and realization. Deriving and fulfilling of the assembly precedence relations (APRs) are the essential points in assembly sequences reasoning. In this paper, focusing on APRs reasoning, ASP, and optimizing, a hierarchical ASP approach is proposed and its key technologies are studied systematically. APR inferring and the optimal sequences searching algorithms are designed and realized in an integrated software prototype system. The system can find out the geometric APRs correctly and completely based on the assembly CAD model. Combined with the process APRs, the geometric and engineering feasible assembly sequences can be inferred out automatically. Furthermore, an algorithm is designed by which optimal assembly sequences can be calculated out from the immense geometric and engineering feasible assembly sequences. The case study demonstrates that the approach and its algorithms may provide significant assistance in finding the optimal ASP and improving product assembling.     

Tool selection-embedded optimal assembly planning in a dynamic manufacturing environment

This paper presents an approach for tool selection-embedded optimal assembly planning in dynamic manufacturing environments. It aims to embed assembly tools into the planning process of assembly sequences in a dynamic shop-floor. The experimental results demonstrate that the developed approach is efficient and practical for a high fidelity assembly sequence with alternatives of assembly-tool sets. The dynamic assembly planning can efficiently support product assembly by generating feasible assembly sequences. It provides an effective design-aiding tool to virtually deal with various what-if scenarios regarding product assembly. In particular, the Web-based application developed in this research can be incorporated into a high-performance design and manufacturing environment on the Web, forming a distributed, collaborative and globally networked tool for product assembly planning.     

Product relationships management enabler for concurrent engineering and product lifecycle management

The current competitive industrial context requires more flexible, intelligent and compact product lifecycles, especially in the product development process where several lifecycle issues have to be considered, so as to deliver lifecycle oriented products. This paper describes the application of a novel product relationships management approach, in the context of product lifecycle management (PLM), enabling concurrent product design and assembly sequence planning. Previous work has provided a foundation through a theoretical framework, enhanced by the paradigm of product relational design and management. This statement therefore highlights the concurrent and proactive aspect of assembly oriented design vision. Central to this approach is the establishment and implementation of a complex and multiple viewpoints of product development addressing various stakeholders design and assembly planning points of view. By establishing such comprehensive relationships and identifying related relationships among several lifecycle phases, it is then possible to undertake the product design and assembly phases concurrently. Specifically, the proposed work and its application enable the management of product relationship information at the interface of product-process data management techniques. Based on the theory, models and techniques such as described in previous work, the implementation of a new hub application called PEGASUS is then described. Also based on web service technology, PEGASUS can be considered as a mediator application and/or an enabler for PLM that externalises product relationships and enables the control of information flow with internal regulation procedures. The feasibility of the approach is justified and the associated benefits are reported with a mechanical assembly as a case study.