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| 1 | 基于机器人与视觉引导的星载设备智能装配方法显示文摘当前大型星载设备的安装采用人工操作机械臂的方式完成。由于星载设备昂贵,装配过程在半封闭非直视条件下进行,需要多人进行人工观察与口令调整,耗费数小时,装配效率低下。为提升装配效率,实现装配过程的智能化与精准化,提出一种基于机器人与视觉引导的星载设备智能装配方法。采用机器学习与双目视觉实现装配体之间的精确位置测量;通过机器人手眼标定完成视觉空间到机器人空间的运动映射;综合分析装配路径的干涉状况,对装配路径进行机器人运动规划;最后通过虚拟现实技术实现装配过程的可视化。整个装配过程可自动完成,装配时间缩短在若干分钟以内。进行了卫星与星载设备的模型装配试验,结果表明装配误差小于0.3 mm,验证了所提方法的有效性。 | 季旭全 王君臣 赵江地 张晓会 孙振 | 2018 | 机械工程学报2018，54，23： | 35 |
| 2 | 计算机辅助装配规划研究综述显示文摘装配规划是影响产品装配质量和成本的重要因素,作为并行工程和计算机集成制造的关键支撑技术,计算机辅助装配规划涉及计算机、人工智能、自动化和机器人等领域。对目前该领域国内外的研究现状进行了综述,总结和剖析了经典方法、虚拟现实方法、软计算方法和协同方法等4 种具有代表性的装配规划技术,并对今后计算机辅助装配规划的发展方向和研究趋势进行了分析。 | 王峻峰 李世其 刘继红 钟毅芳 | 2005 | 工程图学学报2005，26，2： | 29 |
| 3 | INTEGRATED APPROACH TO ASSEMBLY SEQUENCE PLANNING OF C0MPLEX PRODUCTS显示文摘Assembly sequence planning will be more difficult due to the in-creasing complexity of products.An integrated approach to assembly sequence planning of complex products applying de-composition-planning-combination strategy is presented.First,an assembly is decomposed into a hierarchical structure using an assembly structure representation based on connectors.Then,an assembly planning system is used to generate the sequences that are locally optimal for each leaf partition in the structure hierarchy.By combining the local sequences systematically in a bottom-up manner and choosing suitable ones from the merged sequences,the assembly sequence of each parent structure including the whole assembly is generated.An integrated system has been completed.A complex product is given to illustrate the feasibility and the practicality of the approach. | Wang Junfeng Liu Jihong Zhong Yifang CAD Center,Huazhong University of Science and Technology,Wuhan 430074, China | 2004 | Chinese Journal of Mechanical Engineering2004，17，2： | 8 |
| 4 | 车辆综合传动装置交互装配技术显示文摘为了在设计阶段为预估综合传动装置装配可行性分析提供一种途径,基于虚拟现实技术搭建了综合传动装置交互装配的视景仿真平台,建立了虚拟场景下的交互操作工具模型;研究了综合传动装置交互装配的混合包围盒碰撞检测方法、基于人机交互的路径规划技术;提出了基于装配特征要素重构的精确定位方法;最后,以某军用装甲车辆的综合传动装置为例,对交互装配技术进行了实例验证和分析,结果证明了本文技术的有效性。 | 刘飞 闫清东 姚寿文 陈岩 | 2015 | 吉林大学学报(工学版)2015，45，4： | 3 |
| 5 | STUDY ON HUMAN-COMPUTER SYSTEM FOR STABLE VIRTUAL DISASSEMBLY显示文摘The cooperative work between human being and computer based on virtual reality (VR) is investigated to plan the disassembly sequences more efficiently. A three-layer model of human-computer cooperative virtual disassembly is built, and the corresponding human-computer system for stable virtual disassembly is developed. In this system, an immersive and interactive virtual disassembly environment has been created to provide planners with a more visual working scene. For cooperative disassembly, an intelligent module of stability analysis of disassembly operations is embedded into the human-computer system to assist planners to implement disassembly tasks better. The supporting matrix for stability analysis of disassembly operations is defined and the method of stability analysis is detailed. Based on the approach, the stability of any disassembly operation can be analyzed to instruct the manual virtual disassembly. At last, a disassembly case in the virtual environment is given to prove the validity of above ideas. | GuanQiang ZhangShensheng LiuJihong CaoPengbing ZhongYifang | 2003 | Chinese Journal of Mechanical Engineering2003，16，3： | 1 |
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