Abstract:

The rapid and smart manufacturing is the key technology in the current customizing manufacture, especially on multispecies but small amount. A rapidly welding design method was developed using an advanced RRT algorithm. This new method could be divided into task composer and motion planer. The task composer was built to finish more welding lines without moving the frame. And the motion planer was built to calculate the best route without collision from the origin point to the target using less time. This method is verified about five times faster than the current best practices allowed in the task composing and in the route design speed.

Key words: rapidly welding, rapidly-exploring random tree(RRT) algorithm, routing design, collision detection

摘要：

针对多品种、小批量机械产品快速制造技术是目前制约个性化制造的瓶颈问题，提出将快速扩展随机树(RRT)算法用于焊接路径的规划设计，建立了复杂部件的快速焊接规划方法和适应于快速焊接的任务分配器。以移动焊件距离最小和焊接机械手臂从一点出发能最大限度地完成多条焊缝焊接作业为前提，建立了基于RRT算法的运动路径规划器，该规划器能在最短时间内规划出从焊缝焊接起点到焊缝焊接终点的最优无碰撞路径，其焊接任务分配速率和路径规划速率较传统的焊接方法提高5倍左右。

关键词: 快速焊接, RRT算法, 运动规划, 碰撞检测