A collaborative assembly for low-voltage electrical apparatuses

作     者：Huanpei LYU Libin ZHANG Dapeng TAN Fang XU Huanpei LYU;Libin ZHANG;Dapeng TAN;Fang XU

作者机构：College of Mechanical EngineeringZhejiang University of TechnologyHangzhou 310014China College of Digital Technology and EngineeringNingbo University of Finance and EconomicsNingbo 315175China 

出 版 物：《Frontiers of Information Technology & Electronic Engineering》 (信息与电子工程前沿（英文版）)

年 卷 期：2023年第24卷第6期

页      面：890-905页

核心收录：

学科分类：0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 080202[工学-机械电子工程] 0802[工学-机械工程] 0835[工学-软件工程] 0701[理学-数学] 0811[工学-控制科学与工程] 

基　　金：supported by the National Natural Science Foundation of China(No.52175124) the Zhejiang Provincial Natural Science Foundation of China(No.LZ21E050003) the Fundamental Research Funds for Zhejiang Universities,China(No.RF-C2020004)。 

主　　题：Low-voltage electrical apparatus Collaborative assembly Artificial potential field based planning Adaptive quantum genetic algorithm Dynamic interaction 

摘      要：Low-voltage electrical apparatuses(LVEAs)have many workpieces and intricate geometric structures,and the assembly process is rigid and labor-intensive,and has little balance.The assembly process cannot readily adapt to changes in assembly situations.To address these issues,a collaborative assembly is proposed.Based on the requirements of collaborative assembly,a colored Petri net(CPN)model is proposed to analyze the performance of the interaction and self-government of robots in collaborative assembly.Also,an artificial potential field based planning algorithm(AFPA)is presented to realize the assembly planning and dynamic interaction of robots in the collaborative assembly of LVEAs.Then an adaptive quantum genetic algorithm(AQGA)is developed to optimize the assembly process.Lastly,taking a two-pole circuit-breaker controller with leakage protection(TPCLP)as an assembly instance,comparative results show that the collaborative assembly is cost-effective and flexible in LVEA assembly.The distribution of resources can also be optimized in the assembly.The assembly robots can interact dynamically with each other to accommodate changes that may occur in the LVEA assembly.