Aiming at the difficulty in solving the cable assembly path of complex mechatronic products,a cable assembly path solving method based on improved rapidly-exploring random tree algorithm is pro-posed.Firstly,the cable physical attribute model based on Cosserat elastic rod theory is constructed,and then three strategies for improving the rapidly-exploring random tree algorithm are proposed:the cable as-sembly path planning strategy based on artificial potential field method(APF),makes the path connect with the cable target configuration to facilitate the actual cable assembly;to prevent the cable from colliding with the parts due to its own gravity;the node expansion strategy of the optimal height of the cable from the ground is considered;based on the path optimization strategy of non-uniform cubic B-spline curve,a rela-tively smooth path is found.The simulation results of the proposed method in Matlab cable assembly path map show that the improved rapidly-exploring random tree algorithm has better results.Finally,the proposed method is verified by an example of cable assembly path in a phased array radar.
关键词
线缆装配路径/快速搜索随机树/人工势场法/碰撞干涉/复杂机电产品
Key words
cable assembly path/rapidly-exploring random tree/artificial potential field/collision interference/complex mechatronic products
维普
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