面向飞机复杂部件的钻铆机床自动避障技术
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摘要
飞机部件在加工仿真过程中,由于飞机结构复杂易导致钻铆机床与飞机部件产生干涉碰撞,为此研究提出了一种基于人工势场法的自动避障技术。首先对机床进行运动学定义,然后在仿真环境下对加工任务进行仿真,对于仿真中遇到的干涉碰撞通过人工势场法进行自动避障。通过机床的加工实例进行验证,结果表明机床可以顺利避开障碍物,实现了自动避障轨迹的生成。
In the process of aircraft simulation, because of its complex structure, it is easy to cause interference collision between drill riveting machine and aircraft. Therefore, an automatic obstacle avoidance technology based on artificial potential field method is proposed. Firstly, the kinematics of the machine tool is defined and the machining task is simulated under the simulation environment. and then, for the interference collision encountered in the simulation, the artificial potential field method is used to avoid the obstacles automatically. In the machining examples of the machine tool, it is verified. The results show that the machine tool can be used to avoid the obstacles and the automatic obstacle avoidance is realized.
In the process of aircraft simulation, because of its complex structure, it is easy to cause interference collision between drill riveting machine and aircraft. Therefore, an automatic obstacle avoidance technology based on artificial potential field method is proposed. Firstly, the kinematics of the machine tool is defined and the machining task is simulated under the simulation environment. and then, for the interference collision encountered in the simulation, the artificial potential field method is used to avoid the obstacles automatically. In the machining examples of the machine tool, it is verified. The results show that the machine tool can be used to avoid the obstacles and the automatic obstacle avoidance is realized.
引文
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[2] 杨兆军,陈传海,陈菲,等.数控机床可靠性技术的研究进展[J].机械工程学报,2013,10(20):130-139.
[3] 戴丽玲.数控加工工艺方案拟定及仿真模拟过程[J].昆明大学学报(综合版),2005(1):40-43.
[4] 马志艳.面向数控加工仿真的增强现实关键技术研究[D].武汉:华中科技大学,2007.
[5] 牟世刚.基于VERICUT的整体叶轮五轴数控加工仿真[J].机床与液压,2009,37(2):164-174.
[6] 凌波.基于CATIA的自动钻铆加工仿真系统开发[D].南京:南京航空航天大学,2010.
[7] 叶彬强,王一.基于人工势场法的机器人避障算法[J].重庆理工大学学报(自然科学版),2012,9(26):82-85.
[8] 张棋,杨宜民.基于改进人工势场法的足球机器人避碰控制[J].机器人,2002,1(12):12-15.