PCB数控钻孔最佳走刀路线的建模与求解

目前,采用PCB数控钻自动编程系统生成的钻孔路线并非最佳走刀路线。通过分析,将PCB数控钻孔最佳走刀路线问题归结为大型TSP问题,其目标函数定为钻头的总走刀时间最短。由于TSP问题在理论上属于NP完备问题,因此很难用一般的算法求解。文中详细介绍了用模拟退火方法求解该问题的具体算法,并以上继基础开发了PCB的最优化的自动编程系统。     

基于遗传算法的PCB数控钻孔路径优化

目前,采用PCB数控钻孔自动编程系统获得的走刀路径并非最佳路径。论文将最佳走刀路径归结为TSP问题,将目标函数定位钻头走刀时间最短。详尽介绍了应用遗传算法解决该问题的具体算法。并通过实验讨论了变异算子和变异概率对优化结果的影响。     

基于在线测量工艺参数的数控加工程序后置处理算法的研究

本文研究以在线测量工艺参数进行数控车削的图形自动编程的加工程序后置处理的算法,以及在配有ＳＩＮＵＭＥＲＩＫ８１０Ｔ数控系统的数控车床上进行车削编程的技术。系统提出了利用高档数控系统的Ｒ参数来保存在线测量得到的加工余量,在加工时以此在线构造走刀轨迹的算法。     

基于在线测量工艺参数的数控加工程序后置处理算法的研究

本文研究以在线测量工艺参数进行数控车削的图形自动编程的加工程序后置处理的算法,以及在配有ＳＩＮＵＭＥＲＩＫ８１０Ｔ数控系统的数控车床上进行车削编程的技术。系统提出了利用高档数控系统的Ｒ参数来保存在线测量得到的加工余量,在加工时以此在线构造走刀轨迹的算法。     

NC数控车床辅助编程系统的开发

本文结合AutoCAD或CAXA电子图板等常用的计算机绘图软件用Visual Basic开发了NC数控车床辅助编程系统在绘图软件中绘制刀具的走刀路线代替手工编程的坐标点计算再用本系统接受绘图软件输出的DXF格式文件自动生成数控加工G代码和坐标值数据提高了编程效率一绘图阶段工作内容首先用AutoCAD或CAXA电子图板等绘图软件绘制零件设计图(如图1所示)再根据设计图绘制各刀具的起点和走刀路线(如图2所示)图1 示例加工零件设计图图2 示例加工零件走刀路线图为了使本系统能识别走刀路线并自动生成数控加工代码绘制图形时有以下基本要求(1)数控…     

多重精度算术软件包的设计与实现

本文结合我们的ＴＵＲＢＯ ＰＡＳＣＡＬ语言编程的实际经验，介绍多重精度算术软件包的方法和在ＰＣ微机上的实现效果。     

DOS和UNIX间任务级实时通信的实现

ＰＣ－ＮＦＳ是运行在ＰＣ机上的一个ＴＣＰ／ＩＰ软件，它提供了多种应用编程接口来实现用户的网络应用，本文介绍了一种用ＰＣ－ＮＦＳ工具来实现ＤＯＳ和ＵＮＩＸ间任务级实时通信的方法。     

物资采购计划自动生成系统

本文论述物资采购计划自动生成的系统结构，以及在ＰＣ机上用ＦＯＸＢＡＳＥ开发工具编程实现原理与算法。系统实现了数据维护、物资采购计划生成及报表输出功能，为实现物资采购的现代化科学管理提供了一些参考。     

基于进化策略的TSP问题求解

ＴＳＰ问题是ＮＰ完备问题，在本文中提出基于进化策略的启发式ＴＳＰ问题求解算法。计算机模拟结果表明在较短的时间内，利用本文提出的算法能够得到满意的结果。     

基于进化策略的TSP问题求解

ＴＳＰ问题是ＮＰ完备问题，在本文中提出基于进化策略的启发式ＴＳＰ问题求解算法。计算机模拟结果表明在较短的时间内，利用本文提出的算法能够得到满意的结果。     

Quasi-static path optimization for industrial robots with dress packs

Problems with robot dress packs are a major reason for on-line adjustments of robot programs and down-time in robot stations. It is therefore of high value if the physical behaviour of the dress packs can be considered with simulation methods already during the off-line programming process for a robot station.This paper presents a method for quasi-static path optimization for an industrial robot with respect to its deformable dress pack. Given an initial collision-free path generated by an automatic path planner, the via point configurations of the path are optimized with respect to the performance aspects of the dress pack. The method is derived from a general framework for parameter optimization of a mechanical system subject to quasi-static motions and deformations. The optimal parameter values are obtained from numerical solutions to a non-linear programming problem in which the static equilibrium equations of the system hold at discrete times. Due to the large-scale nature of this problem, a dress pack is modelled as a discrete Cosserat rod, which is the preferred choice for modeling large spatial deformations of a slender flexible structure with coarse discretization.The method is applied to an industrial robot moving in-between stud welding operations in a stud welding station. The optimized path reduces the stress in the dress pack and keeps the dressed robot from the surrounding geometry with a prescribed safety clearance during the entire robot motion.     

Coverage of a Planar Point Set With Multiple Robots Subject to Geometric Constraints

This paper focuses on the assignment of N discrete points among K geometrically constrained robots and determination of the order in which the points should be processed by the robots. This path planning problem is directly motivated by an industrial laser drilling system with two robots that are constrained to translate along a common line while satisfying collision avoidance constraints. The points lie on a planar base plate that translates normal to the axis of motion of the robots. The geometric constraints on the motions of the robots lead to constraints on points that can be processed simultaneously.We use a two step approach to solve the path planning problem: (1) Splitting Problem: Assign the points to the K robots, subject to geometric constraints, to maximize parallel processing of the points. (2) Ordering Problem: Find an order of processing the split points by formulating and solving a multidimensional Traveling Salesman Problem (TSP) in the if-tuple space with an appropriately defined metric to minimize the total travel cost. For K = 2, we solve the splitting problem optimally in O(N³) time by converting it to a maximum cardinality matching problem. Since this is too slow for large datasets, we also provide a greedy O(N log N) algorithm. We provide computational results showing that the greedy algorithm solution is very close to the optimal solution for large datasets. For the ordering problem we present local search based heuristics to improve the multidimensional TSP tour. We give computational results for the ordering problem and for the overall performance gain obtained (over a single robot system) by using our algorithm. Finally, we extend our approach to a K-robot system and give computational results for K = 4.     

WSN节点定位中移动信标路径规划的研究

在无线传感器网络的节点定位技术中,通过移动锚节点定位是比较实用的定位方法,移动锚节点定位需要考虑移动路径问题,路径规划合理有效,可以获得较高的定位精度。若将传感器节点看作图的顶点,利用解决TSP的思想结合蚁群算法来寻找一条最佳路径,通过理论分析及仿真实验可知,该方法形成的路径可以很好地覆盖整个网络,很好地适应无线传感器网络节点随机分布时的节点定位。     

Collision avoidance for Robot manipulators: Application to Catia/IBM 7565 interface

A collision avoidance algorithm has been developed to augment the capability of an automatic (off-line) robot path planning (programming) tool. The use of off-line programming tools for robot task programming is becoming increasingly important, but the advantages to be gained by off-line programming may be lost if collision-free path planning capabilities are not included. This article addressed the problem of collision-free path planning in the context of a gantry type robot. The collision avoidance algorithm described here uses the <heuristic approach> to collision-free path planning. The manipulator and obstacles are modeled as spheres to simplify tests for collision. An important feature of this algorithm is that it permits the manipulation of objects in the robot's environment. When compared against an algorithm from the literature, given a lightly cluttered environment modelled by spheres, the new algorithm finds a collision-free path much faster. This new algorithm has been implemented as part of the CATIA/IBM 7565 interface which forms an automatic off-line programming system for the IBM 7565 robot. It has also been implemented as a supervisory collision filter to allow collision-free control of the robot from the operator's console. In both cases the algorithm has been demonstrated to provide efficient and effective collision avoidance for the IBM 7565 robot.     

多级规约算法在PCB钻孔路径优化中的应用

以求解PCB（Printed Circuit Board）钻孔路径优化这一大规模复杂的TSP（Traveling Salesman Problem）问题为背景,研究了一种改进的多级规约算法（EMR）。该算法依据工程应用中实用性、通用性的特点重新设计了多级规约算法（MR）的规约和细化算子并增加了控制参数以提高算法的灵活性;针对算法中会产生大量部分解集且难以储存这一问题,设计了一种类似人类族谱的数据结构。实验结果以及与循环LK算法和蚁群算法的对比分析表明,EMR算法兼顾了实用性和通用性,且有较高的优化质量和优化效率。     

An application of the self-organizing map in the non-Euclidean Traveling Salesman Problem

An application of the self-organizing map (SOM) to the Traveling Salesman Problem (TSP) has been reported by many researchers, however these approaches are mainly focused on the Euclidean TSP variant. We consider the TSP as a problem formulation for the multi-goal path planning problem in which paths among obstacles have to be found. We apply a simple approximation of the shortest path that seems to be suitable for the SOM adaptation procedure. The approximation is based on a geometrical interpretation of SOM, where weights of neurons represent nodes that are placed in the polygonal domain. The approximation is verified in a set of real problems and experimental results show feasibility of the proposed approach for the SOM based solution of the non-Euclidean TSP.     

ACR原型系统的全局路径规划遗传算法研究

ACR(物品自动运送机器人 )的全局路径规划是一种特殊而又典型的机器人路径规划问题, 可转化为一种TSP问题. 通过深入分析问题自身特性并辅以大量的仿真实验, 对遗传算法的选择、交叉、变异等操作及其相关参数作了深入细致的优化, 同时将“进化逆转”操作引入标准遗传算法框架中, 最终获得了一种性能良好的全局路径规划算法. 仿真结果表明, 此算法可在较短时间内求得最优解或准最优解.     

Optimal Path Programming of the Stewart Platform Manipulator Using the Boltzmann–Hamel–d'Alembert Dynamics Formulation Model

In this paper, the dynamics formulation of a general Stewart platform manipulator (SPM) with arbitrary geometry and inertia distribution is addressed. Based on a structured Boltzmann–Hamel–d'Alembert approach, in which the true coordinates are for translations and quasi-coordinates are for rotations, a systematic methodology using the parallelism inherent in the parallel mechanisms is developed to derive the explicit closed-form dynamic equations which are feasible for both forward and inverse dynamics analyses in the task space. Thus, a singularity-free path programming of the SPM for the minimum actuating forces is presented to demonstrate the applications of the developed dynamics model. Using a parametric path representation, the singularity-free path programming problem can be cast to the determination of undetermined control points, and then a particle swarm optimization algorithm is employed to determine the optimal control points and the associated trajectories. Numerical examples are implemented for the moving platform with constant orientations and varied orientations.