CLC number: TP24
On-line Access: 2023-07-03
Received: 2021-09-04
Revision Accepted: 2022-05-10
Crosschecked: 2023-07-03
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Citations: Bibtex RefMan EndNote GB/T7714
Huanpei LYU, Libin ZHANG, Dapeng TAN, Fang XU. A collaborative assembly for low-voltage electrical apparatuses[J]. Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/FITEE.2100423 @article{title="A collaborative assembly for low-voltage electrical apparatuses", %0 Journal Article TY - JOUR
面向低压电器的协同装配方法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。 关键词组: Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article
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