Cable Automatic Routing And Assembly Path Planning In Complex Products

As a connection part,cable plays an important role in complex products.Nowadays the electromechanical products are becoming lighter,more and more integrated and precise.This brings higher requirements to the reasonable layout design and reliable assembly of flexible cables.To deal with the efficiency and quality problem of both routing and assembly of cables in complex products,the cable automatic routing and cable assembly path planning based on motion planning method are studied in this paper.The main research content is as follows:(1)Based on the analysis of the background of cable layout design and assembly planning problems in complex products,the previous related work on computer aided 3D cable routing,cable like flexible object modeling and cable assembly planning is surveyed.The objective and content of the cable routing and assembly planning are presented as well as the components and key technologies.(2)The digital modeling of cable in complex products is studied.An integrated information model of cable is proposed.The proposed model including physical property information,geometric information,topology information,logical connection information and part material information,is the basis of cable automatic routing and assembly planning.Among the information,the Cosserat elastic rod theory is used for modeling the physical property of cable.(3)The cable automatic routing in complex products is studied.Based on the motion planning algorithms in robotics,the cable automatic routing problem is seen as a ball robot motion planning problem.The detailed problem statement is given.An Anytime RRT based cable automatic routing method is proposed.This method generates the length optimal initial path with Anytime RRT and then refined the path by a proposed obstacle based magnetic attraction algorithm.(4)The cable assembly path planning is studied.The assembly path planning problem is seen as a motion planning problem of deformable linear objects,which is known as a high-dimensional planning problem.A reduced dimensional method using guiding path is proposed to plan motion of deformable linear object.After sampling,connection and querying,a feasible path from initial to final configuration can be generated.For different length of cables,two assembly path planning methods for short and long deformable linear objects are presented respectively.(5)Based on the proposed cable automatic routing and assembly planning method,a software system is developed.The development background,system architecture,development environment,modular design and implementation method of the system are introduced.The developed system is tested on several typical scenarios to illustrate the proposed theory,technology and method.Finally,a summary is given and the future work or research focus is also discussed.