机械臂多任务协同建模与分配方法

吴仁杰; 阴艳超; 徐凯

doi:10.13433/j.cnki.1003-8728.20190124

机械臂多任务协同建模与分配方法

doi: 10.13433/j.cnki.1003-8728.20190124

昆明理工大学机电工程学院, 昆明 650500

基金项目:

国家重点研发计划项目 2017YFB1400301

National Key R & D Program of China 2017YFB1400301

详细信息

作者简介:
吴仁杰(1992-), 硕士研究生, 研究方向为是数字化设计与制造、智能制造, wurenjie_525@163.com

通讯作者:
阴艳超, 教授, 硕士生导师, yinyc@163.com

中图分类号: TG391
计量
- 文章访问数: 497
- HTML全文浏览量: 234
- PDF下载量: 48
- 被引次数: 0
出版历程
- 收稿日期: 2018-12-28
- 刊出日期: 2020-03-05

Multi-task Collaborative Modeling and Assignment Method of Manipulator

Faculty of Mechanical and Electrical Engineering, Kunming University of Science and Technology, Kunming 650500, China

摘要

摘要: 针对大型叶片精加工效率低的问题，提出了一种多机械臂协同加工大型叶片的方法，对机械臂多任务协同建模与分配方法进行了深入的研究及详细的阐述。首先构建了大型叶片多机械臂协同加工多任务分配模型，根据叶片的曲率云图将叶片划分为多个加工任务，然后以最短加工时间为目标，提出了一种基于贪婪算法协同加工多任务分配方法，并给出了方法流程和具体步骤，最后通过实例验证了本方法的有效性和可行性。
- 大型叶片 /
- 机械臂加工 /
- 多任务协同 /
- 任务分配
Abstract: Aiming at the low efficiency of large blade finishing, a collaborative method of multi-manipulator for machining large blade was proposed, and the method of multi-task collaborative modeling and assignment for manipulator is studied in depth and elaborated in detail. Firstly, a multi-task allocation model for the collaborative processing of large-scale blade using multi-manipulator is constructed. According to the curvature cloud of blade, the blade is divided into several processing tasks. Then, in order to decrease the shortest processing time, a multi-task allocation method based on the greedy algorithm for collaborative processing is proposed, and the flow chart and specific steps are given. Finally, an example is given to verify the effectiveness and feasibility of this method.
- large blade /
- manipulator processing /
- multi-task collaboration /
- task assignment

HTML全文

图 1 基于贪婪算法的多任务分配方法流程图

下载: 全尺寸图片幻灯片

图 2 某型号大型叶片三维模型

下载: 全尺寸图片幻灯片

图 3 大型叶片曲率云图

下载: 全尺寸图片幻灯片

图 4 大型叶片区域划分图

下载: 全尺寸图片幻灯片

图 5 各机械臂可加工区域分析图

下载: 全尺寸图片幻灯片

图 6 大型叶片多机械臂协同加工仿真过程图

下载: 全尺寸图片幻灯片

表 1 各分配情况时间对比图

机械臂r₁	机械臂r₂	完成总时间/min
g₁、g₂、g₃	g₄	1 097
g₂、g₃	g₁、g₄	1 104

下载: 导出CSV

参考文献(14)

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