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Optimized scanning path of wing panel based on genetic algorithm |
AI Xiao-xiang1, YU Ci-jun1, FANG Qiang1, CHEN Lei2, FANG Wei2, SHEN Li-heng2 |
1.Department of Mechanical Engineering, Zhejiang University, Hangzhou 310027, China; 2. China COMAC Shanghai Aircraft Manufacturing Company Limited, Shanghai 200436, China |
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Abstract Scanning path for wing skin was planned automatically in advance in order to complete the scanning of wing skin quickly in the process of wing panel digital assembly. Wing skin was represented by a series of sampled points. These sampled points were divided into groups automatically based on least square method after explaining the theory of laser scanner and analyzing the scanning constraints such as scanning angle, depth and width. The scanning process was divided into two actions of alternating motion combination for scanning measurement and attitude adjustment. The objective function about how to make the scanning process as short as possible was created. Genetic algorithm was used to solve the problem so that the scanning path could be optimized in three dimensions. The new method was compared with the traditional methods such as trapezoidal scanning and line scanning method. Results show that the general scanning path of this method is shorter and use fewer attitudes.The average scanning efficiency was increased by 14.4%. The scanning simulation of robot with a scanner along the optimized path was completed, meeting all constraints requirements using DELMIA software platform, and the time of simulation was the same to the calculated value.
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Published: 28 August 2015
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基于遗传算法的机翼壁板扫描路径优化
针对飞机机翼壁板数字化装配过程中蒙皮外形快速扫描的需求,对蒙皮的扫描路径进行自动规划.介绍激光扫描仪扫描测量的原理及方法,并分析扫描仪扫描样点时的倾角、距离及扫描宽度等约束条件.以大尺寸件机翼蒙皮为研究对象,对其进行数字化离散操作,得到一系列样点.使用最小二乘法对上述样点进行自动分组.在此基础上把扫描过程分为扫描测量和姿态调整2种动作交替运动的组合,构建以扫描过程总时间为最小的优化目标函数.利用遗传算法求解目标函数,从而优化三维空间的扫描路径,并将此路径与常见的梯形扫描和直线扫描路径进行比较,扫描总路径短且所用总姿态数少,平均扫描效率提高14.4%.最后,采用DELMIA软件平台进行扫描过程仿真,利用搭载扫描仪的机器人沿优化路径进行扫描.结果显示:本研究可满足扫描约束要求,且扫描仿真时间与计算时间一致.
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