• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2016, Vol. 52 ›› Issue (13): 156-165.doi: 10.3901/JME.2016.13.156

• 数字化设计与制造 • 上一篇    下一篇

基于任意时间RRT算法的三维自动布线技术*

刘佳顺, 刘检华, 张之敬, 徐金宝, 林海立   

  1. 北京理工大学机械与车辆学院 北京 100081
  • 出版日期:2016-07-05 发布日期:2016-07-05
  • 作者简介:

    刘佳顺,男,1986年出生,博士研究生。主要研究方向为线缆自动布线与装配规划技术。

    E-mail:jsliu@bit.edu.cn

    刘检华(通信作者),男,1977年出生,博士,教授,博士研究生导师。主要研究方向为数字化装配与检测。

    E-mail:jeffliu@bit.edu.cn

  • 基金资助:
    * 国家自然科学基金资助项目(51275047); 20150703收到初稿,20151208收到修改稿;

Anytime RRT Based Cable Automatic Routing under Three-dimensional Environment

LIU Jiashun, LIU Jianhua, ZHANG Zhijing, XU Jinbao, LIN Haili   

  1. School of Mechanical Engineering, Beijing Institute of Technology, Beijing 100081
  • Online:2016-07-05 Published:2016-07-05

摘要:

考虑约束的路径规划是线缆布局设计的重要方面,针对目前三维环境下的布线方法效率低以及对约束考虑不完善的问题,提出一种基于任意时间RRT算法的三维自动布线方法。该方法将任意时间算法与双树吸引快速扩展随机树(RRT)算法相结合,兼顾路径规划的长度约束及搜索效率,实现线缆初始路径的生成,提出了基于障碍物的磁吸算法(OBMA),将初始路径作“贴壁”细化处理完善线缆路径,最后建立了基于Cosserat弹性杆理论的线缆物理模型,计算获得线缆的精确空间姿态,从而完成布局设计。开发了原型系统,通过典型的布线场景对算法性能进行了测试,并利用某产品仪器板布线实例验证了线缆布局设计效果。

关键词: 磁吸算法, 快速扩展随机树, 任意时间, 物理属性, 三维自动布线

Abstract:

Constraint based path planning plays an important role in cable layout design (CLD) problem. Currently the constraints like physical ones are not well taken into account in cable routing with low efficiency under three-dimensional environment. An anytime RRT based method for cable automatic routing is presented. The method first computes an initial path from the start point to the goal point using combined anytime algorithm and bidirectional attractive rapidly-exploring random trees (RRT) algorithm, which can solve both length constraint and searching efficiency. To refine the initial path, it is pulled to the structure surface by performing the proposed obstacle based magnetic attraction (OBMA) algorithm. Finally the Cosserat elastic rod theory is used for the physical properties modeling of cable to generate the accurate pose of all the fixed cables. Several typical situations are selected to test the performance of the algorithm and we also test the effect by implementing our method on an electrical product with the cable routing system.

Key words: anytime, magnetic attraction algorithm, physical properties, rapidly-exploring random trees, three-dimensional automatic routing