Research On Pipe Automatic Routing In Mechatronic Products

As an indispensable part of mechanical products which using gas, liquid, etc. as working fluid, Pipeline system is widely used in modern industrial. To improve the quality and efficiency of piping layout design, this dissertation conducted a study for the related theories of pipe auto layout, the key technology and the implementation methods. The main research work of this paper is summarized as follows:(1) The research progress of pipe layout design in the field of theory and technical aspects in domestic and international area is elaborated, and the advantages and disadvantages of the existing path planning algorithm of pipe layout design are analyzed. Finally, the significance of this study is pointed out.(2) The modeling technology in pipe auto layout design is analyzed according to the characteristics of the actual project pipe, the overall business processes to solve the problem of pipe auto layout is elaborated, then the pipe auto layout design problem is gotten mathematical description and the engineering constraints in pipe layout process are summarized, a spherical searching space for path searching algorithm is carried out, finally a collision detection method with shielding redundancy parts in the external searching space and continuous intermediate interpolation is presented to ensure the pipe route which searched out without collision is pressented.(3) the characteristics of the Rapidly-exploring Random Tree(RRT) algorithm and the related improvement strategy are analyzed, an improved RRT algorithm for automatic solving the path of single combined with the pipe layout engineering constraints is proposed, the algorithm including node expansion strategy based collision information、rapidly bypass the obstacle strategy and node expansion tactics based on the probability, a path optimization method based on key nodes is proposed to optimization the initial path of the pipeline output the layout design, at last the effectiveness of the algorithm is verified by an example.(4) The characteristics of the probabilistic roadmap method(PRM) and the related improvement strategy are analyzed, for solving the branch pipe auto layout problem, a pipe auto layout method of LTL-PRM algorithm is proposed. The method determine the position of branch points by the minimum Steiner tree, and construct the road map using the local twice learning to describe the research space, then search for the shortest possible path by Dijkstra algorithm, the final result of pipe layout is output after optimization. Finally, the method is verified by an example.(5) a prototype system for pipe auto layout is self-designed and developed as engineering practices and verify for the studies described above, The development background, architecture, function modules and realization method of software systems are elaborated. The relevant methods and techniques in this paper are verified by examples.At last, a summary of the full text is made, next research work and related technology development prospected are expatiated.