【摘要】 将MAS理论有机地引入串并联动研抛加工中,提出一种由串联机器人Agent、并联运动平台Agent、研抛工具系统Agent等组成的多Agent联盟控制模型。通过引入点线副,建立该研抛系统的约束多体动力学方程,以便准确地规划出各机器人的运动轨迹,为优化研抛加工的控制参数,实现串并联动协调研抛自由曲面的最优加工参数配置和最优加工路径规划提供依据。更多还原

【Abstract】 This paper puts forward a multi-Agent alliance control model that is made up of the series robot Agent,the parallel moving platform Agent and the polishing tool system Agent and so on by organically introducing the MAS(Multi-Agent System) theory into the polishing.Through the introduction of point-curve constraint,the dynamics of the constraint multi-body equation for the polishing system is established in order to accurately program the moving track of the robots.Meanwhile,the control parameters during the polishing can be optimized and the foundation can be afforded for carrying out the collocation of the optimal parameters with the series-parallel coordinates polishing and programming the optimal path on the free-form surface.更多还原