| 白车身焊接机器人加工路径优化和仿真 |
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| 引用本文： | 晁永生,刘海江. 白车身焊接机器人加工路径优化和仿真[J]. 中国机械工程, 2010, 0(4) |
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| 作者姓名： | 晁永生 刘海江 |
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| 作者单位： | 同济大学; |
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| 基金项目： | 国家863高技术研究发展计划资助项目(2008AA04Z105) |
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| 摘 要： | 为合理规划多焊接机器人的焊接路径,提出一种综合运用遗传算法和仿真分析的求解方法。对焊点焊接顺序进行分析,确定各个焊点的焊接优先关系,将各个焊点分配给各个机器人,以最短的工位时间为优化目标,采用自适应遗传算法进行焊接任务求解。在eM-power中建立焊接生产线三维模型,并对分配的焊接路径进行仿真,对发生干涉位置的点进行焊接顺序约束,最后寻找出可行的焊接路径。在虚拟环境下模拟机器人加工路径,大大缩短了多机器人焊接路径规划的时间。
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| 关 键 词： | 白车身 路径仿真 遗传算法 焊接顺序约束 |
Welding Robot Path Optimization and Simulation for Body in White |
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| Chao Yongsheng Liu Haijiang Tongji University,Shanghai. Welding Robot Path Optimization and Simulation for Body in White[J]. China Mechanical Engineering, 2010, 0(4) |
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| Authors: | Chao Yongsheng Liu Haijiang Tongji University Shanghai |
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| Affiliation: | Chao Yongsheng Liu Haijiang Tongji University,Shanghai,201804 |
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| Abstract: | To balance the workload of multiple welding robots,an approach of combining genetic algorithm and simulation analysis was proposed.Based on the analyses of welding point sequences,priorities of welding points were defined.Welding points were allocated to multiply robots and the objective was to minimize the welding time of station.Adaptive genetic algorithm was applied to seek the optimization solution.The three dimensional model of welding production line was built in eM-power software.The welding robot si... |
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| Keywords: | body in white welding path simulation genetic algorithm welding sequence restraint |
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