面向低压电器的协同装配方法

吕焕培; 张立彬; 谭大鹏; 胥芳

doi:10.1631/FITEE.2100423

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面向低压电器的协同装配方法

常规文章 | Updated：2023-07-03

- 面向低压电器的协同装配方法
- A collaborative assembly for low-voltage electrical apparatuses
- 信息与电子工程前沿(英文版) 2023年24卷第6期页码：890-905
- Affiliations：
  
  1.College of Mechanical Engineering, Zhejiang University of Technology, Hangzhou 310014, China
  2.College of Digital Technology and Engineering, Ningbo University of Finance and Economics, Ningbo 315175, China
- Author bio：
  
  E-mail: lvhuanpei@nbufe.edu.cn;
  lbz@zjut.edu.cn;
  ‡ Corresponding author
  fangx@zjut.edu.cn
- Funds：
  
  the National Natural Science Foundation of China(52175124);the Zhejiang Provincial Natural Science Foundation of China(LZ21E050003);the Fundamental Research Funds for Zhejiang Universities, China(RF-C2020004)
- DOI：10.1631/FITEE.2100423
  中图分类号： TP24
- 收稿：2021-09-04，
  
  修回：2022-05-10，
  
  纸质出版：2023-06-0
- Accepted：
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吕焕培, 张立彬, 谭大鹏, 等. 面向低压电器的协同装配方法[J]. 信息与电子工程前沿(英文版), 2023,24(6):890-905.

Huanpei LYU, Libin ZHANG, Dapeng TAN, et al. A collaborative assembly for low-voltage electrical apparatuses[J]. Frontiers of Information Technology & Electronic Engineering, 2023, 24(6): 890-905.
吕焕培, 张立彬, 谭大鹏, 等. 面向低压电器的协同装配方法[J]. 信息与电子工程前沿(英文版), 2023,24(6):890-905. DOI： 10.1631/FITEE.2100423.

Huanpei LYU, Libin ZHANG, Dapeng TAN, et al. A collaborative assembly for low-voltage electrical apparatuses[J]. Frontiers of Information Technology & Electronic Engineering, 2023, 24(6): 890-905. DOI： 10.1631/FITEE.2100423.

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 field based 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。

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.

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