中国机械工程2017，Vol.28Issue(24)：2990-2994,5.DOI:10.3969/j.issn.1004-132X.2017.24.015
基于蚁群算法-粒子群算法的白车身侧围点焊机器人路径规划
Path Planning of Spot Welding Robots in Sides of BIW Based on ACO-PSO
摘要
Abstract
A welding path planning algorithm was studied based on the tasks of multi-robot spot welding coordination in sides of BIW.An ant colony particle swarm hybrid algorithm was proposed for the tasks,to achieve the average distribution of multi-robot welding points and the optimal soldering path of single robot.Based on the analyses of the distribution characteristics of the sides of BIW welding points and the requirements of multi-robot coordination welding,a mathematical model of multirobot coordination welding for the sides of BIW welding was established.A path planning scheme was designed based on ant colony particle swarm hybrid algorithm,and the planning results were obtained in MATLAB.Robot offline programming software ‘Robotstudio’ was used to build a multi-robot coordination welding workstations for the sides of BIW welding,and simulation tests were carried out on the planning results.The results show that the algorithm may realize the average distribution of welding points,shorten the welding paths and improve the welding efficiency effectively.关键词
白车身/点焊/蚁群算法/粒子群算法/路径规划Key words
body in white(BIW)/spot welding/ant colony optimization(ACO)/particle swarm optimization(PSO)/path planning分类
机械制造引用本文复制引用
侯仰强,王天琪,李亮玉,张志臣,赵娜..基于蚁群算法-粒子群算法的白车身侧围点焊机器人路径规划[J].中国机械工程,2017,28(24):2990-2994,5.基金项目
国家自然科学基金资助项目(U1333128) （U1333128）
天津市科技支撑计划资助项目(14ZCDZGX00802,15ZCZDGX00300) （14ZCDZGX00802,15ZCZDGX00300）
