Hybrid Assembly Path Planning for Complex Products by Reusing a Priori Data
Assembly path planning (APP) for complex products is challenging due to the large number of parts and intricate coupling requirements. A hybrid assembly path planning method is proposed herein that reuses a priori paths to improve the efficiency and success ratio. The assembly path is initially segm...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-02-01
|
| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/9/4/395 |
| _version_ | 1797396250910261248 |
|---|---|
| author | Guodong Yi Chuanyuan Zhou Yanpeng Cao Hangjian Hu |
| author_facet | Guodong Yi Chuanyuan Zhou Yanpeng Cao Hangjian Hu |
| author_sort | Guodong Yi |
| collection | DOAJ |
| description | Assembly path planning (APP) for complex products is challenging due to the large number of parts and intricate coupling requirements. A hybrid assembly path planning method is proposed herein that reuses a priori paths to improve the efficiency and success ratio. The assembly path is initially segmented to improve its reusability. Subsequently, the planned assembly paths are employed as a priori paths to establish an a priori tree, which is expanded according to the bounding sphere of the part to create the a priori space for path searching. Three rapidly exploring random tree (RRT)-based algorithms are studied for path planning based on a priori path reuse. The RRT* algorithm establishes the new path exploration tree in the early planning stage when there is no a priori path to reuse. The static RRT* (S-RRT*) and dynamic RRT* (D-RRT*) algorithms form the connection between the exploration tree and the a priori tree with a pair of connection points after the extension of the exploration tree to a priori space. The difference between the two algorithms is that the S-RRT* algorithm directly reuses an a priori path and obtains a new path through static backtracking from the endpoint to the starting point. However, the D-RRT* algorithm further extends the exploration tree via the dynamic window approach to avoid collision between an a priori path and obstacles. The algorithm subsequently obtains a new path through dynamic and non-continuous backtracking from the endpoint to the starting point. A hybrid process combining the RRT*, S-RRT*, and D-RRT* algorithms is designed to plan the assembly path for complex products in several cases. The performances of these algorithms are compared, and simulations indicate that the S-RRT* and D-RRT* algorithms are significantly superior to the RRT* algorithm in terms of the efficiency and success ratio of APP. Therefore, hybrid path planning combining the three algorithms is helpful to improving the assembly path planning of complex products. |
| first_indexed | 2024-03-09T00:47:41Z |
| format | Article |
| id | doaj.art-7420750c25384f15a9b73c5b2d018708 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-09T00:47:41Z |
| publishDate | 2021-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-7420750c25384f15a9b73c5b2d0187082023-12-11T17:24:15ZengMDPI AGMathematics2227-73902021-02-019439510.3390/math9040395Hybrid Assembly Path Planning for Complex Products by Reusing a Priori DataGuodong Yi0Chuanyuan Zhou1Yanpeng Cao2Hangjian Hu3State Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaState Key Laboratory of Fluid Power & Mechatronic Systems, Zhejiang University, Hangzhou 310027, ChinaAssembly path planning (APP) for complex products is challenging due to the large number of parts and intricate coupling requirements. A hybrid assembly path planning method is proposed herein that reuses a priori paths to improve the efficiency and success ratio. The assembly path is initially segmented to improve its reusability. Subsequently, the planned assembly paths are employed as a priori paths to establish an a priori tree, which is expanded according to the bounding sphere of the part to create the a priori space for path searching. Three rapidly exploring random tree (RRT)-based algorithms are studied for path planning based on a priori path reuse. The RRT* algorithm establishes the new path exploration tree in the early planning stage when there is no a priori path to reuse. The static RRT* (S-RRT*) and dynamic RRT* (D-RRT*) algorithms form the connection between the exploration tree and the a priori tree with a pair of connection points after the extension of the exploration tree to a priori space. The difference between the two algorithms is that the S-RRT* algorithm directly reuses an a priori path and obtains a new path through static backtracking from the endpoint to the starting point. However, the D-RRT* algorithm further extends the exploration tree via the dynamic window approach to avoid collision between an a priori path and obstacles. The algorithm subsequently obtains a new path through dynamic and non-continuous backtracking from the endpoint to the starting point. A hybrid process combining the RRT*, S-RRT*, and D-RRT* algorithms is designed to plan the assembly path for complex products in several cases. The performances of these algorithms are compared, and simulations indicate that the S-RRT* and D-RRT* algorithms are significantly superior to the RRT* algorithm in terms of the efficiency and success ratio of APP. Therefore, hybrid path planning combining the three algorithms is helpful to improving the assembly path planning of complex products.https://www.mdpi.com/2227-7390/9/4/395assemblypath planningreusea priori pathRRT* algorithm |
| spellingShingle | Guodong Yi Chuanyuan Zhou Yanpeng Cao Hangjian Hu Hybrid Assembly Path Planning for Complex Products by Reusing a Priori Data Mathematics assembly path planning reuse a priori path RRT* algorithm |
| title | Hybrid Assembly Path Planning for Complex Products by Reusing a Priori Data |
| title_full | Hybrid Assembly Path Planning for Complex Products by Reusing a Priori Data |
| title_fullStr | Hybrid Assembly Path Planning for Complex Products by Reusing a Priori Data |
| title_full_unstemmed | Hybrid Assembly Path Planning for Complex Products by Reusing a Priori Data |
| title_short | Hybrid Assembly Path Planning for Complex Products by Reusing a Priori Data |
| title_sort | hybrid assembly path planning for complex products by reusing a priori data |
| topic | assembly path planning reuse a priori path RRT* algorithm |
| url | https://www.mdpi.com/2227-7390/9/4/395 |
| work_keys_str_mv | AT guodongyi hybridassemblypathplanningforcomplexproductsbyreusingaprioridata AT chuanyuanzhou hybridassemblypathplanningforcomplexproductsbyreusingaprioridata AT yanpengcao hybridassemblypathplanningforcomplexproductsbyreusingaprioridata AT hangjianhu hybridassemblypathplanningforcomplexproductsbyreusingaprioridata |