论文标题
基于针对具有变形零件的产品的多个标准的组装序列
Assembly Sequences Based on Multiple Criteria Against Products with Deformable Parts
论文作者
论文摘要
为了为机器人组装生成易于处理的组装序列，本研究通过考虑两个权衡目标来解决组件序列的生成：（1）插入条件和（2）组装零件之间约束的度量度。我们提出了一种多主体遗传算法，以平衡这两个目标用于产生组装序列的目标。此外，提取零件关系矩阵（包括无干扰，插入和约束矩阵程度的方法）的方法扩展到3D计算机辅助设计（CAD）模型，包括可变形零件。通过缩放零件，可以轻松研究可变形零件与其他零件的干扰。使用所提出的方法进行了仿真实验，结果表明，对于3D CAD模型，具有33个零件，包括可变形零件的3D CAD模型，获得了组装序列的帕累托最佳溶液。该方法可能会扩展到处理各种类型的可变形零件，并在组装操作期间探索可抓取的序列。
Aiming to generate easy-to-handle assembly sequences for robotic assembly, this study tackles assembly sequence generation by considering two tradeoff objectives: (1) insertion conditions and (2) degrees of constraints among assembled parts. We propose a multiobjective genetic algorithm to balance these two objectives for generating assembly sequences. Furthermore, the method of extracting part relation matrices including interference-free, insertion, and degree of constraint matrices is extended for application to 3D computer-aided design (CAD) models, including deformable parts. The interference of deformable parts with other parts can be easily investigated by scaling parts. A simulation experiment was conducted using the proposed method, and the results show the possibility of obtaining Pareto-optimal solutions of assembly sequences for a 3D CAD model with 33 parts including a deformable part. This approach can potentially be extended to handle various types of deformable parts and to explore graspable sequences during assembly operations.
