工业仪表与自动化装置
工業儀錶與自動化裝置
공업의표여자동화장치
Industrial Instrumentation & Automation
2015年
5期
78-82
,共5页
双机器人同步焊接%路径规划%量子行为粒子群优化%多旅行商问题
雙機器人同步銲接%路徑規劃%量子行為粒子群優化%多旅行商問題
쌍궤기인동보한접%로경규화%양자행위입자군우화%다여행상문제
synchronous double robot welding%path planning%quantum behaved particle swarm opti-mization%multiple traveling salesman problem
手动液压搬运车是重要的物流搬运设备，其车架是由异型钣金件焊接而成。为了提高焊接质量和生产效率，降低劳动强度，主焊工位采用双机器人同步焊接加工势在必行。在充分考虑焊接变形和运动干涉的基础上，采用量子行为粒子群优化建立双机器人同步焊接数学模型，仿真求解了全局最优焊接路径的近似解，并将粒子群优化与量子行为粒子群优化做了仿真对比试验。结果表明，量子行为粒子群优化能更好地搜索整个解空间，在一定程度上有效解决了搬运车车架主焊工序双机器人同步焊接问题。
手動液壓搬運車是重要的物流搬運設備，其車架是由異型鈑金件銲接而成。為瞭提高銲接質量和生產效率，降低勞動彊度，主銲工位採用雙機器人同步銲接加工勢在必行。在充分攷慮銲接變形和運動榦涉的基礎上，採用量子行為粒子群優化建立雙機器人同步銲接數學模型，倣真求解瞭全跼最優銲接路徑的近似解，併將粒子群優化與量子行為粒子群優化做瞭倣真對比試驗。結果錶明，量子行為粒子群優化能更好地搜索整箇解空間，在一定程度上有效解決瞭搬運車車架主銲工序雙機器人同步銲接問題。
수동액압반운차시중요적물류반운설비，기차가시유이형판금건한접이성。위료제고한접질량화생산효솔，강저노동강도，주한공위채용쌍궤기인동보한접가공세재필행。재충분고필한접변형화운동간섭적기출상，채용양자행위입자군우화건립쌍궤기인동보한접수학모형，방진구해료전국최우한접로경적근사해，병장입자군우화여양자행위입자군우화주료방진대비시험。결과표명，양자행위입자군우화능경호지수색정개해공간，재일정정도상유효해결료반운차차가주한공서쌍궤기인동보한접문제。
Manual hydraulic pallet truck is the important logistics handling equipment , the frames are made of profiled sheet metal welded .In order to improve the welding quality and production efficien-cy , reduce labor intensity , the main welding stations using synchronous dual robot welding processing be imperative .Based on fully considering the welding deformation and motion interference , the mathematical model of dual robot simultaneous welding is establish by quantum behaved particle swarm optimization , simulation to approximate solution the global optimal solution of welding path , and do the simulation test-ed particle swarm optimization and quantum behaved particle swarm optimization .The results show that the quantum behaved particle swarm optimization can better search in the whole solution space , effective-ly solve the problem of dual robot simultaneous welding the truck frame in the main welding process to a certain extent .
