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Suppl. Mater.: 

CLC number: TP24

On-line Access: 2023-07-03

Received: 2021-09-04

Revision Accepted: 2022-05-10

Crosschecked: 2023-07-03

Cited: 0

Clicked: 1542

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Da-peng Tan

https://orcid.org/0000-0002-6018-9648

Huanpei LYU

https://orcid.org/0000-0002-6980-4723

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Frontiers of Information Technology & Electronic Engineering  2023 Vol.24 No.6 P.890-905

http://doi.org/10.1631/FITEE.2100423


A collaborative assembly for low-voltage electrical apparatuses


Author(s):  Huanpei LYU, Libin ZHANG, Dapeng TAN, Fang XU

Affiliation(s):  College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China; more

Corresponding email(s):   lvhuanpei@nbufe.edu.cn, lbz@zjut.edu.cn, tandapeng@zjut.edu.cn, fangx@zjut.edu.cn

Key Words:  Low-voltage electrical apparatus, Collaborative assembly, Artificial potential field based planning, Adaptive quantum genetic algorithm, Dynamic interaction


Huanpei LYU, Libin ZHANG, Dapeng TAN, Fang XU. A collaborative assembly for low-voltage electrical apparatuses[J]. Frontiers of Information Technology & Electronic Engineering, 2023, 24(6): 890-905.

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author="Huanpei LYU, Libin ZHANG, Dapeng TAN, Fang XU",
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pages="890-905",
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publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.2100423"
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Abstract: 
low-voltage electrical apparatuses (LVEAs) have many workpieces and intricate geometric structures, and the assembly process is rigid and labor-intensive, and has little balance. The assembly process cannot readily adapt to changes in assembly situations. To address these issues, a collaborative assembly is proposed. Based on the requirements of collaborative assembly, a colored Petri net (CPN) model is proposed to analyze the performance of the interaction and self-government of robots in collaborative assembly. Also, an artificial potential field based planning algorithm (AFPA) is presented to realize the assembly planning and dynamic interaction of robots in the collaborative assembly of LVEAs. Then an adaptive quantum genetic algorithm (AQGA) is developed to optimize the assembly process. Lastly, taking a two-pole circuit-breaker controller with leakage protection (TPCLP) as an assembly instance, comparative results show that the collaborative assembly is cost-effective and flexible in LVEA assembly. The distribution of resources can also be optimized in the assembly. The assembly robots can interact dynamically with each other to accommodate changes that may occur in the LVEA assembly.

面向低压电器的协同装配方法

吕焕培1,2,张立彬1,谭大鹏1,胥芳1
1浙江工业大学机械工程学院,中国杭州市,310014
2宁波财经学院数字技术与工程学院,中国宁波市,315175
摘要:低压电器设备由较多零部件组成,结构较为复杂,其现有装配方法多是刚性、劳动密集和低平衡的装配工艺过程,不能随装配环境变化迅速改变。本文提出一种面向低压电器的协同装配方法。首先,根据协同装配的性能要求,构建着色Petri网模型,以分析协同装配中各机器人的自治性能和交互特性。其次,在装配控制中提出一种基于规划的人工势场算法(artificial potential fieldbased planning algorithm, AFPA),以实现低压电器设备协同装配中机器人静态全局规划和动态交互控制,并引入自适应量子遗传算法(adaptive quantum genetic algorithm, AQGA)对整个装配过程进行平衡优化。最后,以带漏电保护装置的二相断路器为例,对协同装配方法进行模拟分析。结果表明,低压电器装配中,协同装配方法具有较好的成本效益和柔性,同时装配资源得到较好分配。装配机器人能够相互间动态交互以适应低压电器设备装配中的变化。

关键词:低压电器;协同装配;基于规划的人工势场;自适应量子遗传算法;动态交互

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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